I keep my squirrely kids (4 &5) out of the "top tier" restaurants. (V&A's is right out, but also Flying Fish, Artist Point, Bistro de Paris, Jiko, Citricos, Yachtsman, Shulas, California Grill - I may be missing a few). I understand that Disney is pretty accomodating, but I'm just not comfortable in these places with my kids.
We took our kids to Narcoosee's this trip - which is a "no-tank top" restuarant. Good food, expensive. But the restaurant is fairly open and noisy - and there is a view of the castle. So we were more comfortable with out kids there than some of the quieter environments.
We also ate at Biergarten (buffet - we find them difficult with young kids, but noisy, appropriate, they enjoyed the floor show and the food was good, different enough, yet familiar enough for the kids). Marrakesh (the kids enjoy the belly dancer and they have a children's menu). Spoodles (comfortable for the kids. Great flatbreats.) Teppenyaki (the kids loved watching the chef - a great choice for the five to ten crowd - but parents with younger kids should be aware that the grill is hot and that the kids aren't that far off the grill - they seat kids down at the end where the grill is cooler, but I'd be nervous with a child beyond the high chair but not to the self control stage). Le Cellier (a great choice for the food, although the atmosphere is fairly quiet and it lacks the entertainment of some of the other options - the kids menu is pretty good and my kids LOVED the chocolate moose for dessert) and Boma (another buffet - my son ate like a champ, but my daughter had a hard time here. They do have "kids food" on the buffet, she was just zonked. There is the advantage of being able to check out the animals before dinner. Also keep in mind that unless you are staying at AKL or have a car, getting to and from this place can be a major undertaking).
Generally, we discovered with kids this age that ours are beyond napping, but by a 6:00pm dinner time were so zoned that they were more than willing to sit quietly and eat dinner without needing to be entertained (the exception was our Boma meltdown, which my husband brought on by insisting my daughter have some dinner before dessert - HE should have known better than to insist on such a thing to a tired stubborn prone to tantrums girl at the end of a long day - she won't die just because dinner was strawberries, grapes and zebra domes.)