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New Yorkers 1st Choice
Top picks in Walker's Point

Authentic taco spots

You are looking for tacos that respect the tradition they come from.

Based on 665 Opinions
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Updated April 2026
01
La Chinampa image 1
La Chinampa image 2
La Chinampa image 3
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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.

Food tastes like authentic Mexican cuisine similar to what you'd find in California. The place feels casual, cozy, and classic with consistently delicious and authentic dishes.

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 found the food here to be delicious and authentic."

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
Birrieria El Torito image 1
Mexican restaurant

Small, cozy Mexican restaurant with a family-oriented atmosphere and bright, friendly vibe. TVs show rodeo in the back seating area, adding casual entertainment. Known for authentic birria tacos and affordable drinks like margaritas and micheladas.

Food offers fresh, flavorful dishes with homemade touches. Every bite delivers authentic Mexican taste and unique flavors.

Tacos come with super juicy carne asada, amazing pastor, and delicious birria varieties. Presentation uses styrofoam plates with foil wrapping that shows which four tacos you get.

People are saying

"The food here is delicious and amazing."

"I found the food here to be fresh, flavorful, and authentic."

"I thought the pastor tacos were amazing and delicious."

Good to know

1

Visit on weekends at noon to enjoy the Mariachi serenade.

2

The restaurant offers large portions at reasonable prices.

3

Most staff speak Spanish, enhancing the authentic experience.

03
Cielito Lindo image 1
Mexican restaurant

Colorful interior with a painted sky ceiling creates a cozy and clean atmosphere. Strong lighting brightens the space, which suits large party reservations well. Margaritas stand out as exceptionally good and flavorful.

Food shows authentic Mexican flavors with great presentation. Staff speaks limited English and many local Hispanics dine here, adding to the genuine atmosphere.

Steak tacos stand out with fat cuts and carne asada options. Late night visits often include satisfying tacos after the bars.

People are saying

"I found the Mexican food here to be really authentic."

"The food here tastes so authentic and delicious."

"I couldn't get enough of their fat steak tacos."

Good to know

1

Reservations are recommended for large parties to ensure seating.

2

Parking is available on-site, which is a plus in this area.

3

A 20% gratuity is automatically added for large party bills.

04
Taqueria El Cabrito image 1
Mexican restaurant

Mexican restaurant with bright, open space and walls covered in cultural paintings creates a homey, welcoming atmosphere. Live music with guitar and accordion adds to the lively, friendly vibe. The place fills quickly but tables are usually available within 5-10 minutes.

Offers authentic Mexican flavor with dishes like birria, tacos, enchiladas, and horchata. Portions are generous and recipes stick to home-style cooking traditions.

Tacos feature authentic birria, al pastor, and steak with rich flavors. Prices stay low, offering two taco dinners for just 22 dollars.

People are saying

"You have to try the pastor tacos; they're the best I ever had."

"The Mexican food here is genuinely authentic and flavorful."

"The pastor tacos here are the best I ever had."

Good to know

1

Reservations are not required, and you can usually get a table within 5-10 minutes.

2

The restaurant does not serve alcohol, so plan accordingly.

3

Expect reasonable prices, with a typical meal for two around $33 after tax and tip.

05
Super Taqueria Don Pancho image 1
Mexican restaurant

Spacious Mexican restaurant with calm atmosphere and colorful decorations suits casual dining and celebrations. Tacos stand out for their authentic flavor and come with roasted jalapeños and fresh toppings. Reasonable prices and nearby parking make it a convenient neighborhood spot.

Carne asada delivers a very authentic taste. Mexican cuisine here stays true to its roots, though al pastor lacks some authentic flavor.

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.

06
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.

Offers authentic Mexican dishes like tripe, lengua, beef head, and goat. Food tastes surprisingly authentic even when ordered through delivery.

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."

"These breakfast tacos reminded me of home in Texas."

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

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.

07
Taqueria Los Comales | Walker’s Point, Milwaukee image 1

Mexican restaurant offers authentic tacos and flavorful traditional dishes in a vibrant yet chill atmosphere. Families and groups gather in a space where Spanish is commonly spoken and live music sometimes plays during lunch. The menu is concise but well-executed, focusing on genuine Mexican flavors without loud distractions.

Tacos and Mexican dishes here have a vibrant and authentic flavor. The food feels made with love and stays true to traditional tastes without the food truck vibe.

Authentic Mexican tacos stand out with flavorful chicken and pastor options. The menu offers many taco varieties alongside flavorful rice and beans on dinner plates.

People are saying

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

"I loved the authentic Mexican food and vibrant atmosphere."

"I found the tacos here to be the best I had."

Good to know

1

The menu offers a variety of tacos and other Mexican favorites.

2

Prices are moderate, not too cheap or expensive.

3

Spanish is primarily spoken, but English is available if needed.

08
La Casa de Alberto image 1
Mexican restaurant

Small space with about a dozen tables and a large bar often full. Atmosphere feels cozy, friendly, and casual, with enough quiet for conversation despite occasional crowding. Patrons enjoy authentic touches like Mexican soccer matches on TV, adding to the relaxed vibe.

Chips taste like authentic tortilla chips from Cancun. Food features fresh ingredients, large portions, and genuine Mexican flavors. Watching a Mexican soccer match on TV adds to the authentic vibe.

Steak tacos come with rich mole sauce. Chorizo and shrimp tacos stand out for bold flavors. The pastor taco plate and vegetable tacos offer solid variety.

People are saying

"The Mexican food here has super friendly and attentive staff."

"I thought the steak tacos and mole sauce were amazing."

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

Good to know

1

Prices for tacos start at $12, with a steak torta costing $18.

2

The menu does not specify the type of meat for the torta.

3

The restaurant offers a variety of daily specials to try new dishes.

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Walker's Point, Milwaukee

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