Check out Brasas or the mexican place next door to them. Both are on the left side of Route 301 going south just past the WalMart in a small strip center. Brasas has amaizing black beans and rice and the mexican restaurant is amazing cheap for the amount of food they give you (which is very good too!).
Drive just south of Waldorf to White Plains, and you will find two great one-of-a-kind restuarants, Martinis Lounge and Prime Rib Room, and The Prime Street Grill. Both are priced about the same and have great dining experiences.
Prime Street Grill
4680 Crain Hwy, White Plains, MD 20695