# Tacos in Milwaukee > A taco is the quick, reliable answer to a sudden hunger that needs to be addressed immediately. Source: https://www.atly.com/united-states/wisconsin/milwaukee/best-taco ## Places (27) ### 1. Las 7 Estrellas Food Truck 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. - Address: 150 W Holt Ave, Milwaukee, WI 53207, USA - Atly: https://www.atly.com/location/Las7EstrellasFoodTruck ### 2. El Tapatio taco truck 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. - Address: 700 W Becher St, Milwaukee, WI 53215, USA - Atly: https://www.atly.com/location/ElTapatioTacoTruck1 ### 3. Axolotl Café 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. - Address: 3001 S Kinnickinnic Ave, Milwaukee, WI 53207, USA - Atly: https://www.atly.com/location/Axolotl-Café ### 4. La Guelaguetza 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. - Address: 1844 S 15th St, Milwaukee, WI 53204, USA - Atly: https://www.atly.com/location/LaGuelaguetza1 ### 5. Las Gardenias Mexican Cuisine 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. - Address: 305 N Plankinton Ave, Milwaukee, WI 53203, USA - Atly: https://www.atly.com/location/LasGardeniasMexicanCuisine ### 6. Taqueria La Sierrita 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. - Address: 2689 South 13th Street, Milwaukee, WI 53215, USA - Atly: https://www.atly.com/location/TaqueriaLaSierrita ### 7. Ventura’s Taco Truck 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. - Address: 1633 E Oklahoma Ave, Milwaukee, WI 53207, USA - Atly: https://www.atly.com/location/Ventura’s-Taco-Truck ### 8. Azteca Taco Truck 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. - Address: 2012 W College Ave, Milwaukee, WI 53221, USA - Atly: https://www.atly.com/location/AztecaTacoTruck ### 9. Lonchera El Tapatío Taco Truck 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. - Address: 1721 N Palmer St, Milwaukee, WI 53212, USA - Atly: https://www.atly.com/location/Lonchera-El-Tapatío-Taco-Truck ### 10. Beerline Cafe 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. - Address: 2055 N Commerce St, Milwaukee, WI 53212, USA - Atly: https://www.atly.com/location/BeerlineCafe ### 11. Taqueria Los Gallos 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. - Address: 1231 W Maple St, Milwaukee, WI 53204, USA - Atly: https://www.atly.com/location/TaqueriaLosGallos3 ### 12. Mi Pueblo Mexican Restaurant 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. - Address: 8412 W Morgan Ave, Milwaukee, WI 53228, USA - Atly: https://www.atly.com/location/MiPuebloMexicanRestaurant ### 13. Lazo's Taco Shack 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. - Address: 641 N James Lovell St, Milwaukee, WI 53233, USA - Atly: https://www.atly.com/location/Lazo's-Taco-Shack ### 14. Mexiboricua Restaurant 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. - Address: 8015 N 76th St, Milwaukee, WI 53223, USA - Atly: https://www.atly.com/location/MexiboricuaRestaurant ### 15. Taqueria los Tuxtla Mexican Food Truck 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. - Address: 3103 N 36th St, Milwaukee, WI 53216, USA - Atly: https://www.atly.com/location/TaqueriaLosTuxtlaMexicanFoodTruck ### 16. Aliota's Pub & Grill 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. - Address: 261 E Hampton Rd, Milwaukee, WI 53217, USA - Atly: https://www.atly.com/location/Aliota's-Pub-Grill ### 17. La Carreta Vieja 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. - Address: 1339 W Greenfield Ave, Milwaukee, WI 53204, USA - Atly: https://www.atly.com/location/LaCarretaVieja ### 18. Super Taqueria Don Pancho 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. - Address: 1336 S 7th St, Milwaukee, WI 53204, USA - Atly: https://www.atly.com/location/SuperTaqueriaDonPancho ### 19. The Slow Buffalo 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. - Address: 3872 S 92nd St, Milwaukee, WI 53228, USA - Atly: https://www.atly.com/location/TheSlowBuffalo ### 20. Carnitas Machetes 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. - Address: 2000 S 8th St, Milwaukee, WI 53204, USA - Atly: https://www.atly.com/location/CarnitasMachetes ### 21. Ventura's Taco 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. - Address: 2899 S Kinnickinnic Ave, Milwaukee, WI 53207, USA - Atly: https://www.atly.com/location/Ventura's-Taco-Restaurant ### 22. AREA 51 Sports Bar & Grill Banquet 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. - Address: 5121 W Howard Ave, Milwaukee, WI 53220, USA - Atly: https://www.atly.com/location/AREA-51-Sports-Bar-Grill-Banquet ### 23. Don Lucho 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. - Address: 565 W Lincoln Ave, Milwaukee, WI 53207, USA - Atly: https://www.atly.com/location/DonLuchoRestaurant1 ### 24. El Tlaxcalteca 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. - Address: 1300 W Burnham St, Milwaukee, WI 53204, USA - Atly: https://www.atly.com/location/ElTlaxcaltecaRestaurant ### 25. El Taco Veloz 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. - Address: 8200 W Brown Deer Rd, Milwaukee, WI 53223, USA - Atly: https://www.atly.com/location/ElTacoVeloz3 ### 26. The Garage 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. - Address: 1709 N Arlington Pl, Milwaukee, WI 53202, USA - Atly: https://www.atly.com/location/TheGarage4 ### 27. Tropic on Water 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. - Address: 518 N Water St, Milwaukee, WI 53202, USA - Atly: https://www.atly.com/location/TropicOnWater ## Get this data directly This page comes from the Atly Places API, which scores close to 2 million places against more than 1,400 intents — "nice view", "work friendly", "gluten free", "dog friendly" — from what real reviewers say, with the statements behind every score. - **MCP server:** `https://agentic-api.atly.com/mcp` — connect it in ChatGPT or Claude. Nothing to install. - **Guide for agents:** - **OpenAPI contract:** - **No key needed to start.** `POST https://agentic-api.atly.com/v0/keys` with an email raises the quota. Coverage is densest in the United States, with pockets in Mexico, Israel and Thailand.