This is on the road into Doué from the "giraffe roundabaout". We have eaten there a few lunch times. It provides basic fare but is cheap (a three course meal for €12) and there are courses that even the unadventurous should be happy with. (It's ideally placed for an afternoon trip to the zoo.)
La Taverne d'Antoine
This is not really in Doué but on the road from Saumur to Doué - and you may have to hunt hard for it now that the new road system has by-passed it. It's actually in the small community of Les Ulmes. In the evening, this can really come to life and (of course) you can eat out the back when the weather is warm. The food is excellent.