There's plenty of places to Eat & Drink in Maldon, there's Maldon High Street or pop down to Heybridge Basin where there's the Jolly Sailor and the Old Ship pubs both right on the sea wall. The Jolly Sailor does really nice pub lunches.
Highly recommend a Pint of Maldon Gold
Heybridge Basin also has the Tiptree (Tiptree Jam) Tea Rooms with views over the estuary
All less than 10minutes from the Museum