I wasn't fond of Dukes the few times I've been there. Merely okay.

I like Paradise Cove, even though it's further out, because you can sit outside with your feet in the sand if you use the self-serve station...get your own drinks and food. Or you can eat inside the restaurant and be served.

You do have to pay to park if you don't eat at the restaurant and the parking is only for 2 hours, but even if you stay for over 2 hours, it's not outrageous. The beach is nice here, too.

http://www.paradisecovemalibu.com/beachcafe/index.htm