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Best of Waukesha

Authentic Mexican food

The specific, familiar spices of a traditional meal are what satisfy a deep craving.

Based on 641 Opinions
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Updated May 2026
01
TAQUERIA D'ELICIA #2 TACO TRUCK image 1
TAQUERIA D'ELICIA #2 TACO TRUCK image 2
TAQUERIA D'ELICIA #2 TACO TRUCK image 3
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Food truck inside a convenience store offers authentic Hispanic dishes with a focus on tacos, burritos, and tortas. Atmosphere is casual and convenient, attracting those seeking large portions at fair prices. Known for perfectly wrapped burritos and standout items like Cuban torta and Al Pastor tacos.

Authentic Mexican food shines here with authentic tacos and a variety of Hispanic dishes. The food truck serves genuine flavors including Gyros that stand out.

Tacos here are very fresh with flavors like Al Pastor standing out. Burritos come with perfect wrapping, and tortas offer a crispy toasted exterior with fillings like steak, avocado, and refried beans.

People are saying

"I thought the tacos and quesadillas were delicious."

"I found the food here to be really rich and flavorful."

"I found authentic Hispanic dishes and Gyros here."

Good to know

1

The taco truck serves authentic Hispanic foods and Gyros.

2

Prices are fair for the portion sizes offered.

3

The torta costs $12 and is very large.

02
La Cabaña Family Restaurant image 1

Cozy and bright space feels quaint but can get cramped with small crowds. Drive-through adds convenience, while authentic Mexican dishes and generous portions define the menu. Pricing is generally low, though some add-ons come with extra charges.

Great tacos and fresh ingredients create a truly authentic food experience. The atmosphere adds to the genuine feel of the meals.

Tacos stand out with steak, carnitas, and al pastor options priced around $1.50 each. Fajitas and chimichangas come with well-seasoned meat, and the guacamole is generous and flavorful. The kids menu offers a mix of Mexican and American dishes.

People are saying

"I loved the carnitas and steak tacos; they were great."

"I was blown away by the delicious breakfast here."

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

Good to know

1

La Cabaña offers $1 tacos on Mondays, with chicken or ground beef options.

2

Wednesdays feature a 2 for $20 special on select menu items.

3

Every Friday, enjoy buy one get one free margaritas.

03
Panos Restaurant image 1
Mexican restaurant

Small Mexican restaurant with about five tables and a long central table offers a friendly, welcoming atmosphere with well-partitioned spaces. Food features authentic flavors highlighted by large portions and reasonably priced tacos. The interior tends to be cold, and the setting feels intimate and separate from surrounding areas.

Offers authentic Mexican food with flavors true to tradition. Stands out as a rare spot for genuine Mexican cuisine.

Authentic Mexican food shines with al pastor, burritos, and homemade tamales. Taco Tuesday offers $1.49 street tacos including chorizo and steak options, paired with horchata.

People are saying

"I loved the Mexican food, especially the tacos for $1.75."

"The food at this grocery store is delicious and nicely spicy."

"I found the Mexican food here to be amazing and authentic."

Good to know

1

Taco Tuesdays offer tacos at $1.75 each, but expect long wait times.

2

Cash tips are preferred as credit cards cannot be used for tipping.

3

Parking can be challenging due to potholes near the driveway.

04
Panos Fresh Market image 1
Produce market

Market combines authentic Mexican groceries with a well-organized, clean layout and fresh, high-quality produce. It offers affordable prices and a casual ordering experience at the counter, attracting those seeking genuine Mexican food and specialty items.

Mexican food here tastes delicious and authentic. Service is fast and fresh, delivering meals as authentic as it gets.

Tamales stand out with authentic flavor and great taste. Taco Tuesday offers a variety of tacos with distinct salsas, including a smoked red salsa that complements the dishes well.

People are saying

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

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

"Taco Tuesday is a true bargain with great taste."

Good to know

1

Taco Tuesday offers great deals on tacos at a reasonable price.

2

You order at the counter right when you walk in.

3

Prices of pastries and bread have increased by 30% recently.

05
El Sol De Mexico image 1
Mexican restaurant

Small, simple dining room offers a comfortable, welcoming atmosphere with a clean, quiet setting. Guests enjoy authentic Mexican food with standout dishes like fajitas and flan, alongside notable margaritas. Limited parking and a faint lingering odor may affect the experience.

Mexican food here tastes truly authentic with classic flavors. Chips and salsa also stand out for their authenticity.

Offers authentic Mexican food with standout dishes like chicken chimichangas, pork tacos, and fajitas. The Pico De Gallo and flan dessert are also notable for their quality and flavor.

People are saying

"The food here is so delicious, especially the tamales."

"The Mexican food here, especially the tacos, is amazing."

"I enjoyed the authentic Mexican food here."

Good to know

1

Parking is very limited, so plan to arrive early or park across the street.

2

The restaurant offers dine-in, takeout, and delivery options.

3

Lunch specials are available, providing more affordable meal options.

06
Cantarito’s image 1
Restaurant

Spacious seating and clean, well-done decor create a welcoming environment with a cool, nice atmosphere. Authentic Mexican food features handmade flour tortillas and table side guacamole, complemented by super tasty margaritas and a variety of drinks. Background music plays, though loud phone usage can disrupt the vibe.

Food offers delicious authentic Mexican flavors with dishes that stay true to traditional recipes. The menu consistently delivers excellent authentic Mexican food that stands out in the area.

Fresh guacamole is made right at the table, adding a lively touch to the meal. The menu features authentic Mexican dishes like fajitas, tacos de tripa, chimichangas, and chicken enchiladas served with rice and beans. The salsa comes with green, red, and natural chips, complementing the food well.

People are saying

"I enjoyed the best authentic Mexican food with amazing flavor."

"The service here is amazing and the staff are wonderful."

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

Good to know

1

Cantarito’s offers a lunch special that provides great value.

2

The restaurant is open late, making it a good option for dinner.

3

Cantarito’s has a variety of options on the menu to choose from.

07
Taco Jalisco image 1
Mexican restaurant

Small Mexican restaurant with a cozy atmosphere and cute patio offers a laid-back vibe. Seating is limited with a few tables and booths, complemented by a drive-thru service. The place feels unpretentious and comfortable, focusing on straightforward dining.

Authentic Mexican cuisine shines through with fresh ingredients and well-prepared tacos. The menu offers a great variety that feels like a genuine family gathering.

Tacos here stand out with authentic Mexican flavors and a variety of options like birria and tongue tacos. The salsa and mole sauce add rich, bold tastes that complement dishes well, all at affordable prices around 10 dollars for lunch.

People are saying

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

"The birria tacos here are amazing, just like in Jalisco."

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

Good to know

1

Lunch costs around $10, significantly cheaper than nearby options.

2

Reservations are not required, but seating is limited.

3

Expect a wait during busy hours due to limited seating.

08
Chicken Palace Sunset image 1
Mexican restaurant

Bright, clean space offers authentic Mexican cuisine with large portions and a homemade salsa bar. Casual atmosphere suits families, accompanied by good music and decent prices. Language barriers may occur, but the menu features standout items like tacos al pastor and tlayuda.

Food serves authentic Mexican cuisine with flavors that differ from typical TexMex options. Dishes maintain a genuine taste throughout.

Birria tacos and tacos al pastor stand out with authentic flavors. The spicy avocado salsa adds a fiery kick that complements the fresh, warm chips and homemade salsas.

People are saying

"I thought the food here was really good."

"Their birria tacos are amazing Mexican food."

"I thought the food was pretty authentic."

Good to know

1

Parking at Chicken Palace Sunset is limited for dining in.

2

The restaurant and bathrooms are very clean.

3

Portions are large, providing good value.

09
Taqueria El Palmar image 1
Mexican restaurant

Mexican restaurant with authentic tacos and affordable prices offers quick service and large portions. Atmosphere feels unpretentious but somewhat dingy. Food quality varies, with some dishes praised for flavor and others noted as dry or chewy.

Tacos here deliver authentic Mexican street flavors with a full range of traditional dishes that avoid Americanized twists. The food stays affordable while keeping true to classic tastes.

Tacos stand out with authentic Mexican flavors and affordable prices. Quick service complements the delicious traditional dishes like carnitas and tamales.

People are saying

"The Mexican food here is served with a smile."

"I found the tacos to be delicious and affordable."

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

Good to know

1

Expect quick service, especially during lunch hours.

2

The restaurant is open late, until 2am most days.

3

Placing a pick-up order typically takes about 10 minutes.

10
La Estacion image 1
Mexican restaurant

Dining inside an old train car creates a unique and historic atmosphere with colorful interiors. Outdoor seating includes a covered, partially screened patio that adds to the relaxed vibe. The setting combines a cool, antique feel with a casual, lively energy.

Food offers really good authentic Mexican cuisine with great tasting and delicious flavors.

Authentic Mexican food features enchiladas and taco salad served with three kinds of hot sauce. Strawberry margaritas and desserts like tres leches and flan complement the menu.

People are saying

"I wanted authentic Mexican food, not the healthy stuff."

"I wanted authentic Mexican food, and this place delivered."

"I loved the authentic Mexican food here; it tasted amazing."

Good to know

1

Taco Tuesday features buy one get one free margaritas.

2

Reservations are recommended for group events to ensure buffet arrangements.

3

The patio is dog-friendly, making it a great spot for pet owners.

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