As it's name suggests, Restaurante Beira - Mar is pretty well as near to the sea as it can be. It sits almost at the bottom of RUA XXXXXX on the right set back from the road. Most people choose to park at the top of the hill and walk down even though there are a few parking places right down at the bottom. The road is fairly steep and one way so cars have to turn left at the bottom and drive along the sea wall for a few metres before turning left and up the hill again. It's absolutely fine on good days but let's just say I have seen cars line themselves up ready to tackle the sea wall and have to wait for the right moment on rough sea days! I'm a park at the top person!
Restaurante Beira - Mar (GPS 37º6'50” N, 8º41'10” W)