You may comfortably eat with your hands and use your fingers to eat in a restaurant, but licking the fingers after the meal, is still considered bad manners.

Finally, using a napkin to wipe messy hands gives a well-mannered conclusion to any meal at a restaurant.
Jo Bryant, etiquette adviser, said: ‘The influence of other cultures and new foods, such as calzone, means eating with our hands is a growing trend. Table manners are no longer about adhering to a rigid, and outdated, code of conduct. They exist for guidance but shouldn’t take away from the pleasure of sharing a meal.’
Source-Medindia