I've never tried to take dogs into places other than horse stores, pet supplies and bike shops. But Peg reguarly comes to the yacht club, pub and cafes, most will even bring her out a bowl of water, one even puts lemon in it.
It comes down to training, as others have said. If your dog is being a nusiance and disrupting other customers you are likely to be given your marching orders. On the oher hand when the are behaving they pretty much go unnoticed.