I have a pair of Vienna Acoustics Mozart Grands and also a pair of girls (5 and 3). Here are a few things I have done
a) Keep the speakers somewhat out of the way even if it means suboptimal placement. I purchased some Herbies Loudspeaker Gliders that allow me to move the speakers around when the kids are gone. When the children are around serious listening is out of question anyways.
b) Beat it into their head that speakers are not supposed to be touched. I can now safely say that my 5 year old jumps on the sofa next to the speaker and knows how to handle the remote for the TV next to the speaker but does not touch the speaker. Its a boring piece of furniture anyways.
c) Have some speaker covers stitched to prevent pizza sauce stained hands from touching the speakers.
I suppose it does help that the Mozarts are heavy speakers and come with the outrigger. As of now they are much heavier than my children and also very stable. Unless they go running right at the speakers, there is unikely to be any major damage (fingers crossed).
I would love bookshelf speakers but if i went that way, I would look at wayfair or overstock for solid wood accent tables that weigh a bit. Here is one that I have actually thought of,