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Local picks

Tacos in Milwaukee

A taco is the quick, reliable answer to a sudden hunger that needs to be addressed immediately.

Based on 665 Opinions
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Updated May 2026
01
La Chinampa image 1
La Chinampa image 2
La Chinampa image 3
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Mexican restaurant

Small Mexican spot offers authentic tacos like pork and pastor with rich flavors. Cozy, casual vibe shines on the warm outdoor patio. Friendly staff serve up delicious chips and salsa alongside a variety of tacos, making it a local favorite.

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."

"The tortas here are huge, delicious, and packed with fresh ingredients."

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

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
Las 7 Estrellas Food Truck image 1

Food truck serves large portions of Mexican dishes like al pastor tacos and tamales at low prices. Casual vibe with cash-only payments and ample parking. Sauces include a spicy red salsa that adds a bold kick.

Al pastor and quesabirria tacos stand out with great flavor and generous portions. Tacos come at a low price and fill you up well.

People are saying

"I loved this food truck; the food is just so good."

"I loved their steak tacos; they had great flavor and were filling."

"I thought the tamales here were the best I've ever eaten."

Good to know

1

The food truck accepts only cash payments.

2

They serve large portions that offer great value.

3

Customers can choose between red or verde salsa.

03
El Tapatio taco truck image 1
Mexican restaurant

Taco truck serves authentic Mexican street food with generous portions of well-seasoned meats. Popular tacos like Al Pastor and Tripa offer rich, fresh flavors. Cash-only, efficient service draws many who call ahead for pickup.

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.

04
La Guelaguetza image 1
Mexican restaurant

Taco truck shines with al pastor tacos and birria quesadillas made from handmade tortillas. Open late until 2AM, it offers cash-only service and great prices. Perfect spot for authentic Mexican flavors and late-night taco cravings.

Tacos here feature al pastor with a pleasant pork flavor and a meaty texture. The truck stays open until 2AM, serving a variety of tacos that satisfy late-night cravings.

People are saying

"I thought the al pastor tacos here were the best Mexican food."

"The food here is delicious and tasty."

"I thought the al pastor tacos here were the best."

Good to know

1

Bring cash as only cash payments are accepted.

2

The truck is open until 2AM for late-night taco cravings.

3

Prices are excellent for the quality of food offered.

05
Las Gardenias Mexican Cuisine image 1

Space blends modern, rustic, and industrial design with a warm vibe and romantic Spanish ballads. Tacos shine with high quality meat and bold flavors like shrimp and house-made beef chorizo. Guests relax at cozy tables or in a blooming Mexican garden patio while enjoying authentic Mexican cuisine and excellent margaritas.

Tacos feature high quality meat and bursting flavors with options like shrimp, chicken, bisteca, and house-made beef chorizo. Corn tortillas and complimentary chips and salsa complement the dishes well.

People are saying

"The food here is outstanding, rich, flavorful, and authentic."

"This lunch spot's torta ahogada is so delicious, it reminds me of Guadalajara."

"The tacos here are flavorful and perfectly cooked."

Good to know

1

Reservations are recommended, especially on weekends.

2

Expect higher prices for dinner compared to lunch options.

3

Happy hour specials are available from 4-6pm on weekdays.

06
Axolotl Café image 1
Brunch restaurant

Cozy spot with Mexican-inspired decor offers a warm, family-friendly vibe and fresh flowers. Tacos shine with homemade tortillas and vibrant flavors. Bright, clean space invites guests to enjoy flavorful brunch dishes in a relaxed setting.

Tacos come with homemade tortillas and fresh ingredients. Breakfast tacos stand out for their beautiful presentation and delicious flavors.

People are saying

"You have to try the horchata pancakes for brunch; they're life-changing."

"It's so cozy and clean with lovely decor."

"The breakfast tacos here are beautiful and delicious."

Good to know

1

Reservations can be made online to join the waitlist before arriving.

2

Expect a wait during peak hours, especially on weekends.

3

Free street parking is available nearby.

07
Taqueria La Sierrita image 1
Mexican restaurant

Mexican restaurant serves authentic cuisine with generous portions in a laid back atmosphere. Tacos like steak and lengua offer rich, well-seasoned flavors with salsas that enhance every bite. Small bar adds a family-friendly touch despite limited parking.

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 Mexican food here is delicious and authentic."

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

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.

08
Ventura’s Taco Truck image 1
Taco restaurant

Small dining room creates a cozy atmosphere with fresh, bright salsas and spicy tamales. Tacos pastor and steak tacos offer strong flavors that rank as A Tier Mexican. Lively vibe draws workers and travelers near major roads.

Tacos here stand out with tacos pastor and steak tacos that deliver strong, tasty flavors. The food ranks as A Tier Mexican, making it a solid choice for taco lovers.

People are saying

"I had the best tacos ever here."

"These tamales are out of this world!"

"Their salsas are so bright and fresh."

Good to know

1

Ventura’s Taco Truck is located in the parking lot of the Bay View Post Office.

2

The taco truck is easily accessible from Oklahoma Ave and even 794.

3

They take cards for payment.

09
Azteca Taco Truck image 1
Taco restaurant

Busy taco truck serves authentic Mexican tacos and American styles with affordable prices under six dollars. Soft tacos and tostadas shine with fresh flavors in a casual, lively spot. Families enjoy the great selection and free salsa and limes with orders.

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.

10
Lonchera El Tapatío Taco Truck image 1

Food truck serves best tacos with rich al pastor and chorizo. Quick, cash-only service keeps prices fair. Outdoor seating offers a pleasant river view near downtown.

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.

11
Beerline Cafe image 1
Vegetarian restaurant

Open space with hanging plants and natural light creates a warm, inviting vibe. Large, flavorful Buffalo Mac tacos pair well with amazing salsa. Outdoor seating welcomes dogs, adding to the community feel and relaxed atmosphere.

Tacos come in large portions with options like Buffalo Mac and Chickpea Chorizo. They pair well with amazing salsa and stand out alongside other dishes like scrambles and nachos.

People are saying

"The vegetarian food here is world-class and delicious."

"The cinnamon roll pancakes were fluffy and full of flavor."

"I tried the chickpea chorizo tacos and they did not disappoint."

Good to know

1

Beerline Cafe offers a wide variety of vegan, vegetarian, and gluten-free options.

2

There is no upcharge for gluten-free and vegan items.

3

The cafe has a separate prep area for gluten-free food preparation.

12
Taqueria Los Gallos image 1
Mexican restaurant

Mexican diner offers a family-owned atmosphere with a friendly, diverse crowd. Al Pastor tacos shine with rich flavor and pineapple, while tripa and chorizo provide authentic, hard-to-find options. Space suits quick lunches with reasonable prices and good music.

Al Pastor tacos stand out with their rich flavor and pineapple. Tripa and chorizo tacos offer authentic, hard-to-find options. Tacos come with plenty of meat and good taste, making them worth the price.

People are saying

"The tacos here are the best I've ever had."

"I found the food to be delicious and vibrant."

"I thought the Al Pastor tacos were the best."

Good to know

1

Prices are subject to change, so confirm before ordering.

2

The establishment may close earlier than advertised hours.

3

It's better to order takeout due to limited seating.

13
Mi Pueblo Mexican Restaurant image 1

Small, family-run spot offers a laid-back vibe with authentic atmosphere and beautiful artwork. Birria tacos shine with rich flavor and generous size, while margaritas are highly recommended for a tasty drink. Family-friendly setting makes it perfect for relaxed dining.

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 quesabirria tacos; they're the best I ever had."

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

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.

14
Lazo's Taco Shack image 1
Mexican restaurant

Mexican spot shines with exceptional birria tacos and fantastic margaritas. Urban chic vibe feels cozy despite being cramped, with lively music and solo seating. Menu offers filling taco platters that impress every time.

Birria tacos stand out as exceptionally delicious and a highlight of the menu. The taco platters offer filling, flavorful options including beef tacos and fajitas that consistently impress.

People are saying

"You have to try the birria tacos; they're so good."

"The chips and salsa here are amazing."

"The birria tacos with consomé were so tasty."

Good to know

1

Happy hour offers $3 off margaritas from 5-7pm on Tuesdays and Thursdays.

2

Gratuity is automatically added to bills for groups of four or more.

3

Parking is limited; street parking is available but may require payment.

15
Mexiboricua Restaurant image 1

Small, cozy spot with an unassuming exterior near a gas station offers bold flavors in authentic Puerto Rican and Mexican dishes. Tacos are TJ style and packed with tender meats and amazing salsa. Generous portions and a welcoming atmosphere make it a great find.

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 Mexican food tacos were the best I've ever had."

"I thought the tacos here were 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.

16
Taqueria los Tuxtla Mexican Food Truck image 1

Mexican food truck serves flavorful tacos with standout chicken and shredded beef. Lines show its popularity and clean setup. Churros are delicious and hot, while burritos and rice get mixed reviews.

Tacos here come with super flavorful chicken and shredded beef. Both Mexican and loaded tacos are fresh and tasty, with street tacos that are quick and delicious.

People are saying

"I thought the food was amazing and seasoned very well."

"I considered this the best Mexican food I'd ever tried."

"I considered their tacos some of the best I had."

Good to know

1

Expect long lines during peak hours, especially on weekends.

2

The food truck does not accept Doordash orders currently.

3

Cash is preferred, but credit cards may be accepted.

17
Aliota's Pub & Grill image 1

Pub has a homey atmosphere with multiple TVs and classic rock music. Tacos cost $2 and offer good flavor but need more lettuce and cheese. Outdoor patio provides a clean, relaxed spot for socializing.

Tacos cost $2 each and come with a good flavor. They could use more lettuce and cheese to improve.

People are saying

"I loved my burger and the service was great."

"The Outdoor Seating is great for enjoying crispy, generously sauced wings."

"I had the best tacos I've had in a long time."

Good to know

1

Parking is limited due to nearby businesses, especially during events.

2

Expect longer wait times during major sports events like Packers games.

3

Food arrives quickly after ordering, enhancing the dining experience.

18
La Carreta Vieja image 1
Mexican restaurant

Spacious Mexican spot buzzes with a nightclub vibe and serves top-rated tacos like steak and tongue with bold red salsa. Generous portions of authentic seafood shine alongside well-crafted margaritas. Lively atmosphere feels exciting but can be intimidating.

Steak, chicken, and tongue tacos come hot and fresh with made to order quality. The tacos al pastor and Tacos de Asada deliver strong, authentic flavors paired with a standout red salsa.

People are saying

"I found the food here to be delicious and well prepared."

"I found the tacos here to be the best Mexican food in Milwaukee."

"The tacos here are hot, fresh, and hit the spot."

Good to know

1

Expect generous portions; a meal can be under $20 including tip.

2

The area around the restaurant may feel unsafe at times.

3

The restaurant is known for its seafood options.

19
Super Taqueria Don Pancho image 1
Mexican restaurant

Spacious Mexican spot offers authentic tacos with roasted jalapeños and fresh toppings. Calm atmosphere suits casual dining and celebrations. Reasonable prices and nearby parking add convenience for locals.

Tacos come with a nice assortment of onions and cilantro and big roasted jalapeños. Varieties include carne asada and al pastor, served alongside rice.

People are saying

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

"I found the Mexican food, especially the tacos, to be amazing."

"I found the tacos here to be amazing."

Good to know

1

Parking is available on-site for customers.

2

Prices are reasonable for the quality of food offered.

3

The restaurant maintains a clean and well-kept environment.

20
The Slow Buffalo image 1
Bar & grill

Small bar and grill with standout cocktails and a scratch kitchen serves moist steak tacos and bold pork carnitas. Seating is cramped around a large bar, creating a cozy yet noisy atmosphere when busy. Food and drinks are exceptional, making it a lively spot for bold flavors.

Steak tacos and pork carnitas stand out for being moist and flavorful. Shrimp tacos and smashed burger tacos offer unique, delicious options with bold tastes.

People are saying

"I found the burgers here to be top notch and delicious."

"The Wisconsin cheese curds here are outstanding and flavorful."

"The carnitas tacos are moist, tender, and very flavorful."

Good to know

1

The restaurant has limited seating, so arrive early to avoid long waits.

2

Street parking is available, but it can be challenging to find a spot.

3

Expect a packed house on weekends, especially during dinner hours.

21
Carnitas Machetes image 1
Mexican restaurant

Mexican restaurant buzzes with loud music and mariachi performances. Carnitas tacos shine with handmade tortillas and rich flavors. Vibrant vibe draws crowds, but not ideal for families.

Tacos come with handmade tortillas and generous meat portions. Carnitas tacos stand out with flavors that remind of Mexico City.

People are saying

"I found the carnitas to be the best I had ever had."

"I found the food here to be delicious and full of flavor."

"I found the carnitas tacos to be very flavorful."

Good to know

1

They are only open on weekends.

2

The restaurant is busy in the morning, and there is sometimes a wait.

3

You can order and choose carnitas to go if you're in a hurry.

22
Ventura's Taco Restaurant image 1
Mexican restaurant

Small Mexican spot offers authentic tacos like Birria and Carnitas with bold flavors. Casual vibe with dog-friendly patio and Latin music creates a lively yet relaxed setting. Strong margaritas add to the mini dive bar feel, perfect for quick, tasty meals.

Tacos feature a wide variety of meats like Birria, Carnitas, and Campechano with a Mexican style that is both authentic and tasty. The birria and steak tacos stand out as delicious and filling options.

People are saying

"I found the Mexican food here to be the best."

"I found the steak and birria tacos to be great."

"It's great to sit on the patio and enjoy good food and drinks."

Good to know

1

The restaurant has a dog-friendly patio for outdoor dining.

2

Parking can be difficult to find in the area.

3

Prices are considered reasonable for the quality of food.

23
AREA 51 Sports Bar & Grill Banquet image 1

Alien-themed decor creates a unique vibe while multiple TVs keep sports fans engaged. Birria tacos offer tender, flavorful meat and lemon pepper tacos deliver a phenomenal flavor. Banquet hall suits group celebrations despite loud club music making chat tough.

Birria tacos stand out with tender, flavorful meat and a perfect consommé. Lemon pepper tacos offer a phenomenal, must-try flavor that complements the menu well.

People are saying

"I thought the food here was amazing and really good."

"These birria tacos are the best Mexican food I've had since Texas."

"The lemon pepper taco is absolutely phenomenal."

Good to know

1

Karaoke Night happens every Thursday at 10pm with a two-drink minimum.

2

Happy hour runs from 4-7pm on weekdays with discounted drinks and appetizers.

3

Expect a 10-minute wait for drinks and 20 minutes for food during peak hours.

24
Don Lucho Restaurant image 1
Mexican restaurant

Small space with a shaded patio offers a cozy setting. Tacos are huge and filling, with tender meats and a standout handmade tortilla on the tripa taco. Early mornings bring a packed crowd enjoying authentic Michoacán carnitas and lively mariachi music.

Tacos come huge and filling, often too big for one sitting. Meats stay tender and juicy, with the tripa taco featuring a handmade tortilla that stands out.

People are saying

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

"I found the carnitas here to be the best in town."

"These tacos are gigantic, I could barely finish one."

Good to know

1

Mariachi music plays on weekend mornings.

2

The restaurant is only open Friday to Sunday until they sell out.

3

Tacos cost $6 each and horchata is $7.

25
El Tlaxcalteca Restaurant image 1
Mexican restaurant

Small, cozy spot offers authentic decor and a welcoming vibe. Birria tacos shine with tender beef and crisp tortillas, while quesabirria comes with rich broth and sides. Family friendly and lively, it feels like a true taste of Mexico.

Birria tacos feature tender beef and a semi crunchy tortilla with onions and cilantro. Quesabirria tacos come with a flavorful broth and are served alongside beans and rice.

People are saying

"The food here is packed with flavor and never disappoints."

"The birria here is amazing, especially the quesabirria tacos."

"These quesabirria tacos are amazing and the best I've ever tasted."

Good to know

1

Parking can be difficult to find due to shared lot with Mercado del Rey.

2

The restaurant offers a variety of authentic Mexican dishes.

3

They provide takeout options for those who prefer to eat at home.

26
El Taco Veloz image 1
Mexican restaurant

Street tacos shine with crispy meat and bold flavors like al pastor and tripas. Affordable platters keep it family-friendly and casual. Unique spicy sauces add a zesty kick to every bite.

Street tacos feature crispy outside and soft inside meat with good seasoning. Options like tripas and al pastor stand out, all offered at a great price and fast service.

People are saying

"These tacos are so good, I couldn't get enough."

"The food here is delicious and tastes authentic."

"I thought the food from the food trucks was great."

Good to know

1

Parking is limited and can be challenging near the taco truck.

2

The food is served from a food truck, not a traditional restaurant.

3

The 20 taco platter is a great deal for families.

27
The Garage image 1

Large outdoor patio creates a tropical bar atmosphere with sunny seating. Breakfast tacos offer rich flavors, while the 'truck stop' window serves Tuesday night barria tacos. Music and crowd vibe make it a fun spot for dancing and socializing.

Breakfast tacos stand out with their rich flavors. The small window called 'truck stop' serves Tuesday night barria tacos. Korean BBQ tacos and walking tacos at The Garage offer unique twists on classic tacos.

People are saying

"The outdoor patio bar has a fun atmosphere and great vibes."

"The crowd here is cool; everyone minds their own business."

"The tacos here are great and the atmosphere is fun."

Good to know

1

Bottomless mimosas are available from 11 AM to 3 PM on weekends.

2

The Garage hosts Chess Nights every Tuesday.

3

Happy hour features a large selection of drinks at great prices.

28
Tropic on Water image 1

Bar blends Urban-Caribbean vibe with lively music from live bands and DJs. Juicy jerk chicken tacos deliver rich flavor alongside solid Jersey tacos. Tables with games like dominoes add fun, while an upstairs area hosts private events.

Juicy jerk chicken tacos stand out with rich flavor. The Jersey tacos also offer a solid taste experience.

People are saying

"I found the food here to be amazing."

"You have to try the jerk wings at this bar; they're amazing."

"You have to try their juicy jerk chicken tacos."

Good to know

1

Happy hour runs from 4-7pm on Thursdays and Fridays with half-price appetizers.

2

R&B night occurs every Thursday, featuring local DJs and live performances.

3

Comedy shows are held on Wednesdays, starting at 8pm with a $5 cover charge.

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