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Guide to Waukesha

Mexican food spots

You are looking for authentic Mexican food that delivers on the flavors you crave.

Based on 616 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.

Food comes out quickly and offers authentic Mexican and Hispanic dishes along with Gyros. The flavors are rich and distinct compared to other trucks, making the food consistently delicious.

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.

Food here is consistently excellent and scrumptious, with dishes that satisfy every time. Breakfast options stand out for their quality and taste.

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 delicious and fresh."

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
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 excellent, delicious food that consistently impresses. The dishes offer a fantastic taste that stands out in the area.

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 this place to be a hidden gem."

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.

04
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 excellent quality and reasonable prices. The menu covers a wide range of Mexican dishes that consistently satisfy.

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 food here to be delicious and reasonably priced."

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.

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.

Food arrives quickly, usually in less than 5 minutes. The menu features authentic Mexican dishes with consistently great flavors crafted by skilled cooks and supported by attentive service.

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 food here is amazing, especially the homemade sopes."

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

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
The Crossings Restaurant image 1

Bright, clean diner with a cozy, inviting atmosphere and an eating counter. Regulars enjoy daily specials and homestyle pancakes cooked perfectly with real buttermilk. The space includes big games adding a casual, friendly vibe.

Food here is consistently amazing with freshly prepared dishes and good portions that satisfy hunger. The meals come with friendly service and a beautiful atmosphere.

Chimichanga comes with rice and beans as a special. Huevos Rancheros appears as a limited-time special. Crossings Ranchero Omelette includes chorizo, jalapeños, salsa, and avocado with pancakes on the side.

People are saying

"The food here is amazing, truly delicious."

"The staff here always greets you with smiles during breakfast."

"I loved the chimichanga with rice and beans."

Good to know

1

The restaurant offers a variety of breakfast selections.

2

Daily specials provide unique menu options.

3

Prices are reasonable, with a Diet Coke priced at $4.

07
Backstreet Pub image 1
Bar & grill

Sports bar atmosphere with open bar area and multiple TVs creates a lively setting. Loud, fun crowd gathers especially on fry nights, with pool tables covered for extra seating. Known for excellent fish fry and homemade potato pancakes, it offers a welcoming, local vibe that feels like family.

Food here stands out for its amazing quality and consistent fantastic taste. Service supports the experience with attentive staff who check in regularly, even when busy.

Fish tacos stand out with their delicious flavor. Taco Tuesday offers fried flour tacos that taste great and make the day worth visiting.

People are saying

"You have to try their Friday fish fry; it's the tastiest in the area."

"The food here is amazing."

"I found the fish fry here to be the tastiest."

Good to know

1

Tuesday night Bingo starts at 7pm; arrive early for good seats.

2

Taco Tuesday features $2 tacos and runs all day.

3

Reservations are recommended on weekends due to high demand.

08
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 authentic and delicious with salsas that have their own personality. The aroma from fresh cooking adds to the experience.

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.

09
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.

Authentic Mexican food stands out with freshly prepared dishes that deliver great flavor consistently.

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 food here to be delicious and freshly prepared."

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.

10
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 features authentic Mexican cuisine with a clear understanding of its true roots. Dishes consistently deliver amazing flavor and good value.

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 tried every salsa and was blown away."

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.

11
Margaritas Mexican Grill image 1
Mexican restaurant

Mexican restaurant offers a lively atmosphere with authentic decor and a great outdoor patio featuring live mariachi music. The space is well lit and inviting, drawing a friendly crowd for a fun night out. The bar area is small and darker, contrasting with the bright dining areas.

Authentic Mexican food offers flavorful dishes with consistently great quality and excellent service.

Enchiladas and chimichangas come cooked to absolute perfection with rich, flavorful sauces like the incredible mole. Tacos feature a wonderful open face softshell, paired with amazing salsa Verde and large, tasty margaritas.

People are saying

"I thought the Mexican food here was great and delicious."

"I loved the great outdoor seating, especially the lights."

"The food here is amazing and delicious."

Good to know

1

Happy hour prices apply only until 2pm; regular prices start afterward.

2

Expect long wait times on weekends, especially around dinner hours.

3

The restaurant accommodates large groups, making it suitable for gatherings.

12
Taco John's image 1
Fast food restaurant

Fast food restaurant offers a quiet, simple atmosphere with a clean dining area and parking lot. The crowd includes younger people, families, and couples enjoying a calm setting. Food arrives quickly, with potato oles and tater tots standing out as popular sides.

Food arrives hot and fresh with the right amount of ingredients every time. Service is quick and efficient, and Potato Ole's stand out as a notable side.

Tacos here stand out with grilled steak and beef options that taste fresh and flavorful. The taco salads and tostadas also offer solid choices with quick service in a clean setting.

People are saying

"I thought their fast food tacos were better than any other."

"I thought the Mexican food, especially the tacos, were the yummiest ever."

"I thought the food here was amazing."

Good to know

1

The restaurant is not staffed at 6:30 AM despite opening hours.

2

You can't place an order with the app until 9 a.m.

3

They charge almost 5 dollars extra for sides without mentioning it.

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