Denny’s has a “Kids Eat Free” night on Tuesdays from 4PM to 10PM with adult entree purchase. This is valid for kids 10 and under. Beverage not included. Most of them will allow two free kids meals per adult entree.
Check with your local restaurant to verify they participate in the promotion. You may even find out they also run the promotion on an extra day, as one of ours also has this offer on Saturday evenings.
Pick up your kids from school, take them to a park to play for awhile and then surprise them with a dinner out!