Even though they are about 20 minutes north of OP, I also vote for either Jetty's or the Crab House. They are right next door to each other in Jupiter and we very much enjoyed both the food and the view at both locations. I was not as impressed with the Waterside Cafe (either the food or the view), although it is closer. Bonefish Grill is much closer and, although I haven't eaten at that one, I have eaten at the one by us (at home in NJ) and like it very much.
Last time we were there, we ate at the Okechobee Steakhouse. We were VERY impressed. It is not too far from the airport, I think. Hubby had a great steak, but since I'm not much of a steak eater, I had the stuffed shrimp. It was very good. They also had other seafood items on the menu. BTW, I also had a key lime martini there that was to-die-for.