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New Yorkers 1st Choice
Local picks in Waukesha

Taco spots

Made for those who have a specific craving for a taco and will not be swayed by other menus.

Based on 469 Opinions
+466
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Updated April 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 serves authentic Hispanic dishes with perfectly wrapped burritos and Al Pastor tacos known for their freshness and authentic flavors. Casual vibe offers large portions at fair prices with quick, friendly service.

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 spot offers a cozy atmosphere with a cute patio and drive-thru. Birria tacos deliver authentic flavors from Jalisco, while the menu features unique options like tongue tacos. Seating is limited but the vibe stays laid-back and unpretentious.

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 space offers authentic Mexican dishes with generous portions at low prices. Tacos like steak and al pastor cost just $1.50 each and taste great. Drive-through adds convenience despite the place feeling cramped at times.

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
Cantarito’s image 1
Restaurant

Spacious seating and handmade flour tortillas create a welcoming vibe. Tacos offer spicy chile de arbol and unique meats like tripa. Drinks shine with super tasty margaritas that pair well with authentic flavors.

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.

05
Backstreet Pub image 1
Bar & grill

Lively sports bar buzzes with a fun crowd and multiple TVs. Fish tacos shine on Taco Tuesday with fresh flavors. Known for excellent fish fry and homemade potato pancakes, it feels like family here.

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."

"The bartenders here are super cool and fun."

"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
Margaritas Mexican Grill image 1
Mexican restaurant

Mexican restaurant shines with authentic decor and a lively patio featuring live mariachi music. Softshell tacos are rich with chicken and creamy queso, perfect for Taco Tuesday. Friendly service and fresh margaritas complete the fun night out.

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.

07
Panos Restaurant image 1
Mexican restaurant

Small Mexican spot offers authentic flavors with large portions of tacos priced around $1.75 each. Steak, chorizo, and pastor options shine in a friendly atmosphere with intimate, well-partitioned seating. Interior feels cold but welcoming for groups and events.

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.

08
Chicken Palace Sunset image 1
Mexican restaurant

Bright, clean space serves authentic Mexican cuisine with large portions and a homemade salsa bar. Quesabirria tacos offer rich, savory flavors paired with fresh chips and mangonadas. Casual vibe suits families with good music and fair prices.

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.

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Waukesha, Wisconsin

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