Crabhouse/Seafood in Baltimore with kids
LP Steamers! We live around the corner and frequent it. One word needed....CASUAL. You can order crabs by the half dozen. Plenty of parking on the street and @ 5:30, lots of parking.
On the other side of the harbor in Canton is Captian James' landing. They offer a deck on the water. They have parking but are a bit more expensive.
Just in case you don't know, Mama's on the Halfshell is a seafood place and not a Crabhouse. They will have crab dishes but no crabs. I don't think it is upscale, I always wear jeans, but it is by no means a uber-casual place. The dining room upstrairs is decorated more upscale, but the atmosphere is still casual. Downstairs is casual. I think it depends on your kids ages and what time you go, you would probably be fine for an early dinner. I have never seen people bring kids there, but I have only been for brunch or a late dinner.
What ages are your kids?