As children we were fortunate to eat out once a week with family friends. We sat and chatted amongst our peer group, ate our food and sat still. We managed to have a good time without the need to run around the restaurant shouting. Had we done so we would have been reprimanded by our parents, our parents friends or the restaurant owners.
I try and instil this in my children as well. We are in a restaurant, be respectful to your parents who are taking you there and to those others who are using the restaurant and to the staff and owners who are providing you a service. It works if you try.
And to those who say "kids will be kids". Sure, let them be kids at home where they can disturb you, outside of your home there is no reason why they cannot be taught respect for you and others.