Try to remember that a restaurant allows you to bring your pet as a courtesy to you...so don't expect every place with outside dining to be pet friendly. Health codes are different every where you go so just be patient and understanding.
First of all...start with a people friendly dog. Social dogs are much easier to dine out with. If this is your first dining out experience, pick a spot where your visit can be shorter, (like a coffee shop or tea house). It will make it alot easier on you both if you are in a place where you can leave in a hurry if you have to.
It's good to take your little one on a walk before sitting down to dine. Not every eatery is near puppy facilities...so something to think about for your dogs comfort.
Not every restaurant will provide water bowls, so make sure to bring your own. Restaurant dishes are for people not for pups!
Manners are important-dogs bark...it's a fact...but know when a bark has become too much for those around you. Also remember that if your little one begs at your feet, it's not always "charming" to others if he strays from your side and begs from them.
Keep your dog on a leash at all times. It's important to keep your pups close for their safety and the safety of your server. Don't make your server walk around your dog...again, you just being able to have them with you is alot to ask in most circumstances...don't make it difficult on those trying to help you. Oh and while on that leash if you decide to tether your little friend...do it on a chair not a table. Remember, dogs get excited and if they take off for any reason, taking that table of dishes with them can be a huge clean up...not to mention expense once you are done paying for those broken dishes. It is easier to keep control of your pup on a shorter leash so something to consider.
Never never never let your pup up on the table...can you say HEALTH CODES. Let me repeat...not everyone is as in love with your little one as you are...this is a restaurant first...and a dog friendly restaurant second. Do not let your pups drink out of a glass or eat off of your plate or silverware...again...health codes. Chairs and tables are for people. It's a huge no no to let your pup sit on a chair (or for us bigger dogs just stand next to a table) and eat off the table. This can put alot of people off. If your dog is going to eat, make sure he has his own plate from home :) And put that plate on the ground.
It is always a good idea to have plenty of chew toys to keep your pup busy, and a blanket or towel to lay on gives them a place to call their own.
Make this dining out experience a happy one...for you, your pup, and the people around you. Take the time to thank your server, the owner, and anyone else who came to your table. It also wouldn't hurt to leave your server a little something extra for their patience.
Remember that Health Codes differ from city to city and that restaurants offer pet friendly dining as a courtesy. They have the right to refuse service to anyone so don't be offended if you and your little one are asked to leave. A pup that is a little out of control to you might just be too much for others. Be understanding in these situations and make sure you aren't the reason a sign goes up saying "No Dogs Allowed".
If you have questions, suggestions, or want to let me know about some of your favorites...anywhere...send an email to 
A list of Doggie Dining Out Manners can be found at The Peach Cafe in Monrovia. Ask Nita and she will help you find what you are looking for.