Blue Boar Pub
Pub in London — 4.4★ (2,081 Google reviews).
Café · Westminster
Urban Baristas on Dacre Street is a relaxed, welcoming coffee spot where the staff go out of their way to make you feel at home — reviewers have noted how genuinely helpful and warm they are, happy to talk you through the menu. It's a solid family-friendly option with buggy-accessible access, outdoor space, and a kids' menu, and there are highchairs available too, though it's worth calling ahead to confirm. Vegan options are on the menu, and while there's no soft play or baby changing on site, the friendly atmosphere and easy access make it a handy stop for families exploring the Westminster area.

The secret to a calmer meal out? Something to do that isn't a phone. Each pack is full of screen-free bits and bobs to keep little hands busy at the table and buy you a proper sit-down. Three printable packs, one for each age (toddler, preschool, primary) — free, straight to your inbox.
Pub in London — 4.4★ (2,081 Google reviews).
Bavarian in London with a kids menu — 4.1★ (1,648 Google reviews).
Relaxed hotel grill near St James's Park with highchairs, buggy access and crowd-pleasing food.