We do order off the kids menus...but we eat out a decent amount and know who has decent kids menus and who is willing to make something a bit more decent at a kids price for us. We know this because my oldest has allergies which means she can't have all that deep fried crap anyway. Sometimes the younger two have the deep fried crap, and sometimes we get them something much better than deep fried crap. It all depends on how long it was since they last got the deep fried crap, and how well they've eaten that week.
Heaps of places around here now have steak and vegies on the kids menu, or a bolognaise.
The best kids menu I've seen was this one (I've copied and pasted). The meals were huge and my kids loved their meals. We actually told the owner how impressed we were with their kids menu.
Chicken nuggets, sweet potato chips and salad 12.00 Roasted chicken supreme, roasted chat potatoes and steamed vegetables 12.00 Sweet potato gnocchi, speck, oregano and bocconcini 12.00 Grilled fish, sweet potato chips and salad 12.00 Creamy garlic prawn risotto