One of the best places in town to get a decent fish taco, Madre’s Baja Tacos & More (8 Aviles St., 904/823-1371, 11 a.m.–8 p.m. Tues.–Sun., main courses from $7), doesn’t offer much in the way of ambiance, despite the evocative seascape murals painted on the walls. Still, friendly service, a good beer selection, and near-perfect Baja-style fish tacos make Madre’s a great spot in the Old Town  to take a break from the historic sights and summer heat.
Florida Cracker Cafe (81 St. George St., 904/829-0397, lunch 11 a.m.–2 p.m. daily, dinner 5–10 p.m. Tues.–Sun., main courses from $9) is a pretty standard sandwich-and-salad spot in the Old Town, with a decent selection of burgers, hot dogs, and wraps. The addition of a handful of specialties like shrimp po’boys, fried gator tail, and a variety of fried seafood platters set it apart.
Located in a labyrinthine little house just on the edge of the Old Town, Casa Maya (17 Hypolita St., 904/823-1739, 8:30 a.m.–3:30 p.m. daily, 5–9 p.m. Fri.–Sat., main courses from $9) takes a healthy approach to Mexican food, with fresh ingredients and interesting reconfigurations of traditional Mexican dishes. With dishes like a Mayan soup (with pico de gallo, cilantro, cheese, avocado, and tortilla bits in an onion broth) and Mexican barbecue rather than the same old tacos and burritos, the fare here is as homey and comfortable as the surroundings.
The sandwiches and salads at Cafe del Hidalgo (35 Hypolita St., 904/823-1196, 9:30 a.m.–9 p.m. Sun.–Thurs., 9:30 a.m.–10 p.m. Fri.–Sat., main courses from $6) are certainly decent enough; substantial portions of fresh vegetables and meats are piled onto paninis. The main courses are just an excuse to try some of the café’s desserts. In addition to cannoli, tiramisu, and even key lime pie, Hidalgo serves up a selection of their own in-house gelato, prepared fresh daily; go for the “Coppa to Share,” which is a pile of 10 scoops of your choice into a dish with fruit, white and dark chocolate, nuts, and whipped cream.
Hearty soups and stews, light and healthy salads, tapas, omelets stuffed with everything from plantains and chorizo to blue crab, a sandwich menu that ranges from fantastic Cubans and ropa vieja to something called the Elena Ruth (turkey with cream cheese and jelly on a sweet roll): La Herencia Cafe (4 Aviles St., 904/829-9487, 9 a.m.–4 p.m. Fri.–Wed., main courses from $5) has a menu that’s nominally Cuban-Spanish but is not traditional. This family-run café has a nondescript dining room, but outdoor seating on Aviles Street more than makes up for that minor shortcoming.
Geared more toward locals than to tourists, Gypsy Cab Company (828 Anastasia Blvd., 904/824-8244, lunch 11 a.m.–3 p.m. Mon.–Sat., brunch 10:30 a.m.–3 p.m. Sun., dinner 4:30–10 p.m. Sun.–Thurs., 4:30–11 p.m. Fri.–Sat., lunch main courses from $8, dinner main courses from $15) is situated on the other side of the river from the Old Town  and has a considerably more neighborly vibe than many other restaurants in town.
However, being St. Augustine , it’s also pretty quirky. Themed around taxicabs, the restaurant pitches itself as “urban cuisine,” which apparently means “everything served in any city everywhere.” With Floribbean seafood dishes, Asian noodle plates, Italian, Cajun, Greek, and even German fare, the menu displays a considerable lack of restraint. Thankfully the dishes are prepared competently if not spectacularly, and the upbeat and friendly environment helps make the food taste just that much better.
A sister location next door is the Gypsy Bar and Grill, which serves a handful of bar-food appetizers, salads, and desserts; on the weekends it doubles as a comedy club.