Heritage Tavern is my favorite restaurant in Madison. I have been here 5 times now, and the quality has been consistently good.
Happy hour: the two times I have been here for happy hour I really enjoyed their 5 dollar pork tacos and their beer selection. The tacos are very well executed, and a nice modern variation of the classic carnitas
Dinner: Their menu changes often, but always offers an interesting selection. I liked pretty much everything I ate there. Definitely try their chocolate cake dessert and the lamb tartare. The wine selection is also quite a treat and affordable.
In summary, great consistent high quality place. A bit pricey, but worth the money.