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

Taco spots

A taco that relies on the quality of the tortilla and filling rather than an overload of unnecessary toppings.

Based on 555 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.

Al pastor tortas and pork and pastor tacos stand out with rich flavors. Free chips and various salsas accompany shrimp, carne asada, chorizo, and tongue tacos for a full Mexican food experience.

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
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.

Tacos stand out with authentic carne asada and al pastor on the trompo, served with onions, cilantro, and roasted jalapeños. Burritos come fully loaded with meat and toppings, all at an affordable price.

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.

03
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 food with handmade tortillas and dishes like burritos, tacos, menudo, and pozole. Drinks include top-notch horchata and creamy jalapeño salsa reminiscent of Texas flavors.

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."

"Their Mexican food flautas taste like childhood memories."

"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.

04
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.

Authentic Mexican food shines with steak fajitas, pork enchiladas, and steak tacos that deliver strong flavors. The world’s greatest horchata and fresh margaritas complement dishes like the big pork torta and standout salsa.

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 salsa here is delicious and worth asking for the spicy option."

"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.

05
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.

Birria tacos and birria burritos stand out with rich, juicy flavors. The Jalisco style Mexican food includes super juicy carne asada tacos and flavorful broths, paired with fresh mango and strawberry margaritas.

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 thought the pastor tacos were amazing and delicious."

"I thought the Mexican food here was really good."

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.

06
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.

Tacos here are authentic and include standout options like birria and tacos al pastor. Menudo is available every day, and dishes like pozole rojo offer rich, genuine flavors.

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 food here is delicious and handmade, making it great for kids."

"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.

07
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.

Mole sauce stands out with rich, authentic flavor. Vegetable tacos and green enchiladas offer great taste. Chips come with authentic salsa options and resemble those from Cancun.

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 thought the guacamole was the best I had ever tasted."

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.

08
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 stand out with authentic flavors and a variety including al Pastor and chicken tacos. Chilaquiles and menudo offer solid traditional options, while guacamole balances lime and salt perfectly.

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

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

09
Botanas Restaurant image 1
Mexican restaurant

Mexican restaurant with colorful murals of Meso-American jungles and Mayan art creates a vibrant atmosphere. Loud and lively energy fills the space, especially near the cool bar area and spacious patio with umbrellas. Guests enjoy potent margaritas alongside authentic Mexican vibes.

Steak tacos, cheese and onion enchiladas, and rice and beans stand out with authentic flavors. Food arrives quickly and pairs well with rainbow margaritas in a lively atmosphere.

Steak tacos stand out with rich flavor and tender meat. Al pastor tacos offer a spiced, savory taste alongside other options like burritos and chimichangas.

People are saying

"The food here is seasoned to perfection and full of flavor."

"I highly recommend the Mexican food here for its great vibes."

"The tacos here are served with quick and friendly service."

Good to know

1

Parking is available in the restaurant's own lots.

2

The restaurant adds a 20% tip to bills after 9 pm.

3

Lunch specials offer great value for money.

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Walker's Point, Milwaukee

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