Hudson Street Cafe (http://www.hudsonstreetcafe.com/ordereze/1000/Page.aspx) in Cornwall is really good. Citrus (http://www.citrusny.com/) in New Windsor is good, but the ambiance isn't as nice.
Hudson Street Cafe
237 Hudson St, Cornwall On Hudson, NY 12520
Try Woody's All Natural. www.woodysallnatural.com
Not fancy at all, but really good burgers, salads, fries. A cozy, homey type of place. You do have to pick up the food at the counter though. Definitely not for fancy, but really nice casual.
Woody's All Natural
30 Quaker Ave, Cornwall, NY 12518