If you are looking for a relaxing and intimate location to enjoy a romantic dinner for two or a dinner with friends I can recommend Restaurant Hausermatte (see TripAdvisor reviews).
Most locals do not even know of this restaurant. You can only access it from the road (Haldenstrasse) and not by the waterfront. Address is Haldenstrasse 30, Lucerne 6006 (map). You can book easily online using My Table or call to make a reservation 041 370 11 66.
The restaurant is embedded within a gated housing community directly on the lake (just past the tennis court and almost opposite from Grand Hotel Europe).
The service was relaxed and very professional and the food was great. They also have a wine list which easily rivals other top restaurants in Lucerne.
It is a lovely location with stunning views of the lake. This one is for a date night or a memorable experience with friends so book your babysitter and enjoy!
Thank you Stephanie Thormann for this lovely and informative post!