As for the sitting still, that is the individual child's personality not the restaurant. If they were magic enough to make kids sit still the owners would be millionairres!! ;-)
The only place I can think of is Papa Bear's on Lake Worth Road because they have a game room where you can eat close enough to watch them go in the room and be kids. Also Pete Rose's Ball Park Cafe' is great, they have a game room and a TV at each table to help keep antsy kids occupied.
My kids love Cracker Barrel because they love the stores and it's OK for kids to be louder in places like that.
Roadhouse is also a crowd pleaser for kids and normally has kids nights on Tues or Weds nights. The kids love throwing peanut shells on the floor and kids nights has face painters or clowns or some sort of entertainment for the children free of charge.
JJ Muggs in Lake Worth also has kids nights, I believe they are Tuesday or Wendesdays.
I have a 5 & 7 year old so I understand what you are looking for. Your not going to find a quiet evening out at an upscale restaurant that will make him sit still, so we try to find places where kids are welcome and they can get some of their energy out while we still get the opportunity for a dinner out.
Of all of the places mentioned, I think Pete Rose's has the best food.
Hope it helps!