If you are looking to escape the city without having to relinquish the views, then head over to Tavern on the Water in Charlestown. The three-story restaurant has one of the best panoramic views of Boston situated right on the ocean in the Navy Yard. While parking here can be a challenge (there is no on-site parking available, try your luck in the Navy Yard), once you get here, you know you have arrived at something special.