Shelton's in Cross Plains is a small, family-run bar and restaurant combination. The bar is always busy, and the restaurant gets pretty packed as well, especially on weekends. A bit cramped, and not cheap, but they have some of the best food in the area. Prime Rib on Saturdays is fantastic, as are their steak offerings. They do have some inexpensive items on the menu too. Worth the 10-minute drive from Madison if you want to try someplace new!