Miramar in Highwood is quite kid-friendly. Kiddie entrees are very pricey, though ($9 for noodles with butter!), so be cautious in ordering. There are typically other kids there, the ambiance is loud enough to cover some noise, and the staff is great about kids.
Prairie Grass in Northbrook has a good kiddie menu and does well with kids.
Mimosa in Highland Park has a staff that is incredibly child-friendly and they are smart enough to move the meal right along when a kid is present, but the atmosphere is quiet enough that I was somewhat uncomfortable having a toddler there, even early. There was nothing anyone said or did that made me feel that way, it just ended up seeming slightly inappropriate to me, despite the graciousness of the staff and other diners.