Remember that Google just looks at the page you create, not how you create it.
Now this basically translates your question to "how do we make our dynamic pages visible to Google"? There are a number of tricks. Basically you build links from your homepage to specific other pages. You could have a "Top 5 searches" box, with links to "http://www.example.com/london/takeaways" etc. On the result pages, you can have links to similar queries, e.g. "http://www.example.com/london/finedining".
Basically, Google will see and follow those links, and remember the results per URL. The basic SEO rules till apply - good content, clear structure, etc. Don't bother Google or users with query strings. Use URL rewriting if a query string easier for you internally.