Here's a little something to do for New Years Eve. It is in the corner of the marina towards town. You can crawl back to your boat from there.
"Fort Pierce City Marina residents and guests - ring in the New Year upstairs at Cobb's landing from 9pm to 1am. $15.00 per person for buffet plus a cash bar. Bring in the New Year with your friends and neighbors and walk back to your boat... you couldn't ask for a better time".
If you are looking for a couple of restaurants walk south about a block to Orange Ave. Turn right. A block or so up on the corner is Yellow Fins---very good. just past that is an Italian restaurant. Kind of a hole in the wall, but pretty good.