I highly recommend Hamilton's Grill Room, BYOB (Lambertville), Anton's at the Swan (Lambertville), Marsha Brown's (New Hope) and Martine's (New Hope). All excellent options.
As someone else recommended in an earlier post, Bisque in Haven Beach is fantastic. I just had dinner there Monday (Labor Day) and the food was delicious. I highly recommend it.
You can't go wrong with Sweet Vidalia. Small BYOB.
I haven't tried the Blue Water Cafe in Haven Beach by Sink'r Swim but I hear it is fantastic as well.
Little Dippers in Surf City has great ice cream. I think they are only open weekends from this point on.