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Top picks in Waukesha

Taco spots

A taco is only as good as the kitchen preparing it, and you know exactly what you are looking for.

Based on 481 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.

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.

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
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.

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.

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."

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

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

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.

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.

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.

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 was blown away by the delicious breakfast here."

"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
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.

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.

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."

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

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

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
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.

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

Fish tacos stand out with fresh flavors. Taco Tuesday offers a solid deal with fried flour tacos that taste great.

People are saying

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

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

"I went for Taco Tuesday and it was pretty good."

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.

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.

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.

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."

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

"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.

07
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.

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.

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."

"Their birria tacos are amazing Mexican food."

"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.

08
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.

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.

Softshell tacos come open faced with rich chicken and creamy queso toppings. They pair well with fresh margaritas and friendly service, especially on Taco Tuesday.

People are saying

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

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

"The margaritas here are huge and very good."

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.

09
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.

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.

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."

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

"I thought the fish tacos and chimichangas were 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.

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Waukesha, Wisconsin

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