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Seaswirl in Mystic. Outside, extremely casual, paper plates, etc. Fried whole belly clams and really good soft serve ice cream too
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Abbott's Lobster in the Rough (http://www.abbotts-lobster.com), in Noank, which is west of Mystic (exit 89 off of 95 rather than 90 I think for Mystic). However, it's picnic tables outside, and I would not stay for dessert. Instead, maybe head into the town of Mystic for ice cream and a walk across the drawbridge.
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In Stonington, I ate here a while back: http://www.skippersdock.com/
Its on the water, very New England casual dockside vibe--food was quite serviceable, but not earth shattering. I plan to return someday because I recall it as a great day eating seafood outside watching the boats go by...

