Sorry, been busy the past couple of days.
The Lagos hotels that will probably fit your needs are:
Lagos Town
Marina Club (As already mentioned)
Albergaria Marina Rio (Quality)
Porto de Mos
Vivenda Miranda - 2km from town but views spectacular and Porto de Mos beach nearby.
Meia Praia
Hotel Vila Galé - 50 m from beach. Regular bus to town in daytime and about 15 minutes walk from town via the shortcut behind the station.
Yellow Hotel Lagos - 3km from town but 50m from beach. Regular bus to town in daytime.
I also would not recommend the Tivoli Lagos! Its getting long in the tooth and the environs leave a lot to be desired,
