If you are looking for a good riverside in London to relax with the family, then I will suggest the following places:
Southbank
Ok not so relaxing as it is in the middle of the city, but the views are great and there are restaurants and art galleries and a carnival atmosphere most days, so a great place to take the kids I would say!
Not a river, but a canal goes through there. It can get very busy and touristy, but it is also a very entertaining place.
This area has some nice restaurants and cafes by the river you can enjoy.
Nice river, quiet and leafy part of town.