My friends and I used to go to Duke's. But once we all turned 21, I think we've maybe gone back there once. Now we all completely bypass the restaurant and head straight for the bar. There's an indoor and an outdoor, but we always sit outside, in the sand, in the danger of having the waves come up over the glass wall and dousing us (which I have, in fact, seen happen, though not to us). They have Taco Tuesdays, and other various days as such, all of which aren't the greatest of bargains, but you can't beat the atmosphere. The service is slow, and sometimes it's hard to get a table, but too bad, you're already in Malibu. The nachos and the drinks make it all worth it, though. Be sure to go early, they close at like 9:30.
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