Although some might be inclined to boycott it because of the name, we've enjoyed eating at Dixie Crossroads in Titusville. It's about 5-6 miles North on I-95 from the Space Center exit.
Their specialty is shrimp (a fair number of varieties available... we're partial to the broiled Rock Shrimp that are a little bit like tiny lobsters). They bring a free corn fritter appetizer to the table (covered in powdered sugar like beignets, so almost more of a dessert).
You can get free fish food for the fish and turtles in the little pond outside (it's right next to the road, so not a bucolic setting, but still a fun activity).