import pandas as pd

businesses = pd.read_json(businesses_filepath, lines=True, encoding='utf_8')
restaurantes = businesses['Restaurants' in businesses['categories']]

I would like to remove the lines that do not have Restaurants in the categories column, and this column has lists, however gave the error 'KeyError: False' and I would like to understand why and how to solve.

The expression 'Restaurants' in businesses['categories'] returns the boolean value False. This is passed to the brackets indexing operator for the DataFrame businesses which does not contain a column called False and thus raises a KeyError.

What you are looking to do is something called boolean indexing which works like this.

businesses[businesses['categories'] == 'Restaurants']