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Local picks in Waukesha

Authentic taco spots

Made for those who refuse to settle for anything less than the traditional preparation of a taco.

Based on 604 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 stand out for their freshness and authentic flavors, especially the Al Pastor and steak varieties. Options include American style tacos and favorites like Birria with consomme, all served quickly with friendly service.

People are saying

"I thought the tacos and quesadillas were delicious."

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

"I thought the tacos here were so good, they made me want to cry."

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
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.

Tacos come with a variety of meats including tripa and pastor options. Street tacos with chile de arbol offer a spicy kick, while crunchy tacos could use more cheese.

People are saying

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

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

"You've got to try the street tacos with chile de arbol."

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.

03
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 come at a super low price of $1.50 each with delicious taco meat. Options like steak, carnitas, and al pastor stand out for their authentic flavor and solid quality.

People are saying

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

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

"I came in for their Monday night taco special."

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.

04
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.

Birria tacos evoke authentic flavors from Jalisco, with shredded beef and street tacos standing out as filling and delicious options. The menu also includes unique choices like tongue tacos and queso Berea, all served with consistent quality.

People are saying

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

"I found the birria tacos here to be amazing."

"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.

05
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.

Tacos cost around $1.75 each and come in decent size. Options include steak, chorizo, and pastor, with taco trays available for parties and events.

People are saying

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

"I always took advantage of the Tuesday taco deal for $1.75."

"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.

06
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.

Quesabirria and birria tacos stand out with rich, savory flavors. Tacos pastor and steak tacos come with fresh, warm chips and taco combos that pair well with mangonadas.

People are saying

"I thought the food here was really good."

"I thought the food was pretty authentic."

"I thought your birria tacos were amazing."

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.

07
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.

Pork and chicken tacos stand out with lunch menu specials and good flavor. Fish and steak tacos also appear, paired well with a margarita. The server offers replacements, improving the experience.

People are saying

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

"I thought the fish tacos and chimichangas were 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.

08
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.

Authentic Mexican street tacos come affordable and delicious here. Carnitas and carne asada tacos stand out as perfect and flavorful options.

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.

09
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.

Tacos come in shrimp, pork, barbacoa, chicken, and fish varieties with solid flavor and portion sizes. Each taco costs about $2, making them affordable and easy to order in trays with sides like rice, beans, and chips.

People are saying

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

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

"I enjoyed Taco Tuesday; it was very, very good."

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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Waukesha, Wisconsin

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