# Taco spots in Waukesha > Made for those who have a specific craving for a taco and will not be swayed by other menus. Source: https://www.atly.com/united-states/wisconsin/waukesha/best-taco ## Places (7) ### 1. Taco Jalisco 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. - Address: 2971 801 W Moreland Blvd unit c, Waukesha, WI 53188, USA - Atly: https://www.atly.com/location/TacoJalisco ### 2. La Cabaña Family Restaurant 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. - Address: 701 N Grandview Blvd, Waukesha, WI 53188, USA - Atly: https://www.atly.com/location/La-Cabaña-Family-Restaurant ### 3. Cantarito’s 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. - Address: 408 E Main St, Waukesha, WI 53186, USA - Atly: https://www.atly.com/location/Cantarito’s ### 4. Backstreet Pub 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. - Address: 711 Morgan Ave, Waukesha, WI 53188, USA - Atly: https://www.atly.com/location/BackstreetPub ### 5. Margaritas Mexican Grill 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. - Address: 453 W Main St, Waukesha, WI 53186, USA - Atly: https://www.atly.com/location/MargaritasMexicanGrill2 ### 6. Panos 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. - Address: 426 W Sunset Dr, Waukesha, WI 53186, USA - Atly: https://www.atly.com/location/PanosRestaurant ### 7. Chicken Palace Sunset 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. - Address: 435 W Sunset Dr, Waukesha, WI 53189, USA - Atly: https://www.atly.com/location/ChickenPalaceSunset ## Get this data directly This page comes from the Atly Places API, which scores close to 2 million places against more than 1,400 intents — "nice view", "work friendly", "gluten free", "dog friendly" — from what real reviewers say, with the statements behind every score. - **MCP server:** `https://agentic-api.atly.com/mcp` — connect it in ChatGPT or Claude. Nothing to install. - **Guide for agents:** - **OpenAPI contract:** - **No key needed to start.** `POST https://agentic-api.atly.com/v0/keys` with an email raises the quota. Coverage is densest in the United States, with pockets in Mexico, Israel and Thailand.