There are some - many along the beach and some also on the Bay side. Sunset Waterfront Bar and grill is by the bridge on the bay side with great sunset views (it's a popular place - food was just Ok IMHO). There are also a few good ones up in Port Canaveral right along the inlet there - I personally preferred those. Fishlips and Rusty's both have nice decks overlooking the water, excellent seafood and drinks, and live music. For lunch in Cocoa Beach, try Coconuts on the Beach.
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