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Guide to Milwaukee

Burritos and tacos

Choosing between a burrito and a taco is the only dilemma worth having when hunger strikes.

Based on 690 Opinions
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Updated May 2026
01
La Chinampa image 1
La Chinampa image 2
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Mexican restaurant

Small Mexican restaurant with cozy, authentic decor and a traditional theme. Atmosphere feels casual and friendly, with a warm outdoor patio and occasional TV entertainment. Known for excellent, authentic tacos and burritos with a loyal local following.

Burritos here come with birria meat and steak fajita, both packed with flavor. The great salsa complements the burritos well, making each visit tastier than the last.

Pork and pastor tacos stand out with rich flavors. Tongue, carne asada, chorizo, chicken, and shrimp tacos offer a wide variety. The tacos come with delicious chips and salsa on the side.

People are saying

"I thought the Mexican food here was authentic and excellent."

"I thought their tacos were the best I've ever had."

"I thought the burritos here were pretty good."

Good to know

1

Lunch specials are available daily from 11am to 3pm.

2

Off-street parking is available nearby for visitors.

3

The restaurant offers takeout options for those on the go.

02
El Tapatio taco truck image 1
Mexican restaurant

Taco truck offers authentic Mexican street food with generous portions and cash-only service. Atmosphere is straightforward and efficient, attracting many who call ahead for pickup. Known for flavorful tacos like cabeza, tripa, and al pastor, it stands out among local taco trucks.

Steak burritos come with a generous amount of meat and refried beans. They are huge and often a lunch favorite.

Tacos here have fantastic flavor and come with lots of meat. The Al Pastor, Tripa, Cabeza, and Lengua tacos stand out for their fresh, well-seasoned meats and rich taste.

People are saying

"I thought the tacos here were the best I had."

"You have to try El Tapatio, it's the best taco truck."

"I considered this the best taco truck in Milwaukee."

Good to know

1

The taco truck is cash only; bring cash beforehand.

2

There's an ATM across the street at the gas station.

3

Expect a 5-minute wait for your order.

03
Taqueria La Sierrita image 1
Mexican restaurant

Mexican restaurant offers authentic cuisine with generous portions and a laid back, welcoming atmosphere. A small bar serves liquor while maintaining a family-friendly vibe. Parking is limited, often requiring street parking nearby.

Al pastor and chorizo burritos stand out with rich flavors. The Jalisco burrito offers a fabulous taste experience.

Steak, tripe, and lengua tacos come with rich, well-seasoned flavors. Al pastor and shrimp tacos have a caramelized char that adds depth. Salsas complement the tacos with good flavor throughout.

People are saying

"I found the food here to be delicious and flavorful."

"The al pastor tacos are delicious and well-seasoned."

"I found the al pastor burrito to be very delicious."

Good to know

1

Parking is very limited; expect to find street parking nearby.

2

The restaurant maintains a clean environment throughout.

3

Portion sizes are generous, suitable for one adult.

04
Lonchera El Tapatío Taco Truck image 1

Food truck offers quick service with cash-only payment and fair prices. Tacos stand out as best in town, featuring well-prepared meats like al pastor and chorizo. Location near downtown provides outdoor seating with a pleasant river view.

Chicken burritos come gigantic and juicy, with tender meat that stands out. Steak burritos often include extra cheese and sometimes unwanted onions despite requests.

Pork tacos stand out with rich, well-browned tripe and authentic al pastor flavors. Three tacos come with salsa and verde salsa on the side, all for under $10.

People are saying

"These tacos are the best I've ever had."

"The food here, especially the chorizo tacos, has an outstanding, tasty char."

"I found the chicken burrito to be delicious and tender."

Good to know

1

The taco truck is cash only; bring cash before visiting.

2

Prices are fair, with three tacos and salsa for under $10.

3

Expect to get in and out within 10-15 minutes at busy times.

05
Azteca Taco Truck image 1
Taco restaurant

Busy taco truck offers authentic Mexican and American style tacos with affordable prices and great selection. The atmosphere is casual and lively, with options to order by phone or walk up. Known for best tacos in town, it serves families and provides salsa and limes with orders.

Fully loaded chicken burritos come prepared to order with a great portion size. The burrito fillings often include ground beef and cheese, with the cheese flavor standing out the most.

Soft tacos and tostadas stand out with fresh, delicious flavors. Options like steak tostadas, tripa tacos, and birria tacos offer variety, all priced under six dollars for two tacos.

People are saying

"I thought the tacos and tostadas were the best I had."

"I got a delicious burrito with a great portion size."

"I thought their tacos were the best I had."

Good to know

1

Expect a wait during peak hours as the truck is often busy.

2

Prices for tacos start at around $3 each, making it affordable.

3

You can order over the phone for quicker pick-up.

06
Mi Pueblo Mexican Restaurant image 1

Small, family-run Mexican restaurant with authentic atmosphere and beautiful artwork inside and out. The vibe is laid back and family-friendly, creating a relaxed dining experience. Known for highly recommended margaritas and generous, tasty tacos.

Chicken Burrito stands out with its satisfying flavor. Burrito nights like Burrito Thursday and Burrito Dinner offer a focused menu featuring this and other Mexican favorites.

Birria tacos stand out for their rich flavor and generous size. Steak and shrimp tacos offer great variety and come at a good value especially on Taco Tuesday specials.

People are saying

"I thought the Mexican food here was the greatest I've ever eaten."

"You have to try the $2 tacos on Taco Tuesdays."

"I found the chicken burrito and flautas to be delicious."

Good to know

1

Taco Tuesday offers $2 tacos all day on Tuesdays.

2

Prices are reasonable, with tacos at $2 and guacamole at $5.

3

The restaurant recently opened and is still awaiting its liquor license.

07
Mexiboricua Restaurant image 1

Very small space with an unassuming exterior connected to a gas station creates an intimate setting. Atmosphere feels cozy and welcoming, with a focus on high-quality ingredients and authentic Puerto Rican and Mexican dishes. Food stands out for bold flavors and generous portions, especially tacos and empanadas packed with tender meats.

Big burritos come in a regional style with a focus on chicken that stands out. The flavors match well with tacos and other dishes like tostones and tripleta sandwiches.

Tacos come filled to the brim with tender and delicious meats. The style leans toward TJ style, paired with amazing salsa.

People are saying

"I found the food here to be authentic and delicious."

"I thought the tacos here were the best I've ever had."

"The owner's passion makes this burrito the best I've ever had."

Good to know

1

Every other Saturday, the restaurant roasts a whole pig for special events.

2

The restaurant is located next to a gas station, which may surprise some visitors.

3

The restaurant has 4-6 small tables for dining in or offers takeout.

08
TROUBLEMAKERS' COCINA image 1

Dining happens inside an historic brewery housed in an old church, creating a spacious and unique setting. The atmosphere carries positive, welcoming vibes with a lively energy from the brewery environment. Guests enjoy pairing authentic Mexican dishes with craft beers, making for a flavorful and distinctive experience.

Sauce brings the Asada Fry Burrito to life. Burritos here are consistently good and come alongside other items like taco platters and eggrolls.

Tacos come with unique fillings like Brussels sprouts and cauliflower alongside classic carne asada. The birria eggrolls and fish tacos stand out for their rich flavors and consistent quality.

People are saying

"The food here is amazing, with bold, fresh, and balanced flavors."

"I thought the tacos here were the best I ever had."

"The burrito's flavors, smells, and textures were outstanding."

Good to know

1

TROUBLEMAKERS' COCINA is located inside Central Waters Brewing, up the stairs.

2

Credit card payments may face connectivity issues; cash is recommended during busy times.

3

Online ordering is recommended to avoid long wait times.

09
IVR Restaurant & Bar image 1

Space combines contemporary and retro design with an upscale bar area and modern industrial dining room. Atmosphere feels cool and lively, with many TVs showing sports and a spacious patio for warmer days. Cocktails stand out alongside diverse Indian-inspired dishes.

Burritos here feature unique blends of flavors with options like Tikka Burrito and Falafel burrito that stand out for their taste and creativity.

Fish tacos come crispy chickpea flour battered and offer a unique texture. Tikka tacos feature a fusion of flavors with tasty dipping sauces.

People are saying

"The food here is flavorful, unique, and delicious."

"The chicken tacos were tasty and well-seasoned."

"The Tikka Burrito here is top-notch and worth having again."

Good to know

1

Happy hour offers different deals daily, including cocktails and food pairings.

2

On certain nights, four different $5 martinis are available with entree orders.

3

The happy hour includes two tacos for free with a cocktail purchase.

10
Chucho’s Red Tacos | Gateway to Milwaukee image 1

Small Mexican restaurant combines colorful outdoor seating with a tiki bar-inspired interior and a farm-like vibe. Music plays loudly, creating a lively atmosphere that feels more like a dance club than a quiet eatery. Self-service ordering kiosks and a bar add to the casual, modern setup.

Steak and chicken burritos come massive and juicy, packed with rice and beans. The burritos satisfy with rich flavors and generous portions enjoyed by all ages.

Birria tacos stand out with perfectly cooked steak and rich flavor. The queso taco with melted cheese and beef birria is a go-to choice. Tacos dipped in the consome add extra depth and taste.

People are saying

"I thought the birria tacos here were the best in Milwaukee."

"I found the Quesitaco's to be the best tacos ever."

"I found the chicken burrito to be unreal delicious."

Good to know

1

Taco Tuesday offers $1.80 tacos, making it a popular choice.

2

Food Truck Friday features various food trucks, enhancing the dining experience.

3

Expect long wait times during busy events like Taco Tuesday.

11
Kompali | Tacos • Tequila • Mezcal image 1

Mexican restaurant offers colorful decor with Mexican artworks and a cozy vibe enhanced by Latin music. Outdoor seating on a cool patio invites casual dining with a lively atmosphere. The place draws a crowd looking for flavorful tacos and mezcal cocktails in a trendy, inviting setting.

Beef and veggie options come with actual vegetables and filling portions. Burritos share similar flavors with quesadillas, both featuring cheese and meat in a tortilla.

Deep fried avocado and blackened shrimp tacos stand out with bold flavors. Other options like chorizo, barbacoa, and chimichurri steak tacos offer a tasty variety.

People are saying

"The tacos here are amazing and perfectly spiced."

"The tacos here are authentic, spiced, and delicious."

"This burrito is huge and delicious."

Good to know

1

Happy hour runs from 4-6pm with discounted drinks and appetizers.

2

Weekly specials on tortas and tacos offer great savings.

3

Thursdays feature special pricing on select menu items.

12
Jalisco's Cantina image 1
Mexican restaurant

Expansive Mexican restaurant with beautiful decor and a large bar featuring a phenomenal tequila selection. Atmosphere is loud and lively, often with live Mariachi music, creating a fun but noisy environment. Food and drinks focus on authentic, fresh flavors, with standout margaritas and tacos.

Massive burritos come with well-prepared steak and rich flavor. Servers accommodate dairy-free requests, but cheese and sour cream may be missing even when ordered. Salsa works well as a topping to boost taste.

Chicken tacos stand out with flavors that recall those from Zócalo in CDMX. Special tacos like machaca appear on request, alongside dishes like Carne Asada with enchiladas.

People are saying

"The food here is delicious and authentic."

"The Cantina Burrito is massive and flavorful."

"I thought the tacos here were some of the best I ever had."

Good to know

1

They serve food late during the week until 12am.

2

They are open late on weekends until midnight.

3

Happy hour drink specials are available.

13
Taqueria Mi Tierra Mexican Restaurant image 1

Small space offers a peaceful atmosphere with friendly staff and authentic Mexican dishes featuring handmade tortillas. Generous portions and a large menu cater to diverse tastes without alcohol service. The vibe suits quick, satisfying meals with a focus on Texas-rooted flavors.

Burritos come with a perfect portion ratio and fresh ingredients. Both regular and breakfast burritos are available, with the breakfast option sometimes causing stomach issues.

Breakfast tacos come in large portions with two tacos filling enough. Each taco offers full flavor and distinct protein nuances, evoking a taste reminiscent of San Antonio, Texas.

People are saying

"Their Esquite Elote is the best I have ever had."

"I finally found breakfast tacos that are hard to find outside of Texas."

"I had one of the best burritos I’ve had in a while."

Good to know

1

The menu features a wide variety of options, including kids’ meals.

2

Portion sizes are generous, with two tacos often being enough for one person.

3

The restaurant does not serve alcohol.

14
Guanajuato Mexican Restaurant image 1

Mexican restaurant with an authentic setting and a cozy outdoor patio decorated with flowers and colored lights. The vibe stays super chill and welcoming, suitable for conversation and casual dining. Guests often enjoy great Mexican music enhancing the relaxed atmosphere.

Steak burritos come huge and over stuffed with juicy, flavorful meat. Some burritos lack cheese but include lettuce as ordered.

Steak tacos stand out with perfect seasoning and juicy meat. Options include al pastor and carne asada, served with rice and beans, often at a great value like four tacos for seven dollars.

People are saying

"I thought the food here was amazing and delicious."

"I thought the steak tacos were the best I ever had."

"I loved the steak burrito; it was huge, flavorful, and juicy."

Good to know

1

The restaurant opens at 10 am.

2

Parking can be difficult to find in this area.

3

The lunch specials offer great value.

15
Taco Pros - Mexican Cocina (Wells) image 1

Minimalistic dining room offers a calm and modern atmosphere with new-looking interiors and nice seating. The place maintains a delightful ambiance that feels quiet and relaxed. It serves as a fast casual option with a focus on convenience and straightforward design.

Steak burritos come cooked perfectly with a good verde sauce and solid packaging. Burritos tend to be on the smaller side with too much tortilla and not enough filling for the price.

Tacos deliver flavor-packed and authentic flavors in a quick and tasty style. Lunch and dinner deals offer value with options like two 3-taco dinners for 20 dollars.

People are saying

"The food here is delicious and well-executed."

"I was pleasantly surprised by how tasty the tacos were."

"I thought the burrito could have been a little bigger."

Good to know

1

Taco Pros offers a two 3-taco dinner deal for $20.

2

Tacos cost about $4 each, with various protein options available.

3

The restaurant is open late on weekends for late-night dining.

16
Mi Casa image 1
Mexican restaurant

Small takeout spot offers Mexican-style food with substantial portions and super reasonable prices. Atmosphere stays peaceful and friendly, making it a convenient choice for satisfying late-night taco cravings. Menu includes traditional items alongside unique sides like French fries.

Burritos come in massive sizes with options like steak, shrimp, and avocado. The deep fried burrito stands out for its flavor and satisfying portion when hunger hits hard.

Birria tacos feature well-balanced rich flavors with tender meat and a spiced broth. Steak tacos come with juicy, tender steak served on flour tortillas, all cooked fresh in front of you.

People are saying

"I found the burritos here to be delicious and huge."

"The food at these dinner spots is amazing and familiar."

"I found the tacos here to be delicious and cooked fresh."

Good to know

1

This location doesn't have dine-in service; all orders are for takeout.

2

There is a meal deal for under $30, including an 8-piece grilled chicken and 3 sides.

3

The prices at Mi Casa are very reasonable for the portion sizes.

17
Los Tuxtla Mexican Restaurant image 1

Bright and welcoming interior creates a family-friendly atmosphere with quiet, varied music. The menu offers authentic Mexican dishes with standout seasoned steak chimichangas and ground beef tacos. Plenty of parking and wheelchair accessibility support a comfortable visit.

Steak burritos come large and packed with flavor, bigger than Chipotle's and seasoned well. Breakfast burritos attract many adults, and burritos often skip rice, focusing on other fillings.

Ground beef and beef tongue tacos stand out with rich flavor and authentic Mexican style. Birria and tacos al pastor also offer solid options, while steak tacos have a milder seasoning.

People are saying

"The Mexican food here is seasoned to perfection and truly authentic."

"I found the steak burrito to be great and a good value."

"I found the ground beef tacos here to be the best."

Good to know

1

There was plenty of parking in their private parking lot.

2

The restaurant is wheelchair accessible.

3

There was a short wait time before being seated.

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