We love to eat on the Cocoa Beach Pier. The restaurant is called Marlins. The restaurant is actually towards the end of the pier overlooking the ocean. I have four kids ages 3-10 and they love it. We always ask for a corner table so the kids can see out to watch the ocean. We spend our summers near Cocoa Beach, and we eat here several times during our stay. There is also another restuarant that is more fancy called Atlantic Ocean Grille. There is also a seafood bar and a Mai Tiki Bar and another place called The Boardwalk. There is also a ice cream shop. Here is the website. cocoabeachpier.com
I hope this helps!!