50 Best Taco Restaurants in Milwaukee

“The BEST!....Super friendly. delicious“

“I actually visit the Azteca Taco Truck 5 to 6x's a week in the warm months. Now that it's very cold, 1-2x's a week. I always get the same items. 3 chicken burritos FULLY loaded the way I like them. The quality of the food is superior to any other Taco Truck around. The portions is what I LOVE.... HUGE! And of course ALL of the guys know my order and I'm greeted with respect, a conversation and a SMILE! After my husband passed away, I don't cook at home anymore for just myself.
So THANK YOU AZTECA for being Soooooo DELICIOUS!

Always,
One of Your Regulars!💓“

“So excited to have Ventura’s in the neighborhood. Steak tacos, birria, and chicken quesadillas were amazing. Will definitely be going back regularly!“

“We had a great experience with salesman Lucas,
We stopped in on a whim and he showed us what they had on the lot in price range. He was great at pinpointing our needs to what was available. They let us take the truck for the weekend to see if we liked it and to make sure it fit in our garage which was important to us. Highly recommended dealership and all the staff that was involved with our purchase“

“We ate here a few weeks ago and loved the food and atmosphere. We are bringing our college kids to eat there tomorrow. Excited to have street tacos again.“

“⭐⭐⭐⭐⭐ Absolutely phenomenal — Tacos Almita is a must-eat experience!

If you’re even thinking about tacos, do yourself a favor and go straight to Tacos Almita. From the very first bite, it’s clear this place is something special. The flavors are bold, authentic, and perfectly balanced — the kind of tacos that make you pause mid-bite just to appreciate how good they are.

The tortillas are fresh and soft, the meats are incredibly flavorful and cooked to perfection, and every topping feels intentional — nothing extra, nothing missing. Whether it’s al pastor, carne asada, or birria, each taco tastes like it was made with pride and tradition.

On top of that, the service is warm and welcoming, and the whole vibe feels genuine — like a hidden gem you want to tell everyone about but also keep all to yourself.

Tacos Almita isn’t just good — it’s unforgettable.
This is the kind of place that turns first-time visitors into regulars and sets the standard for what tacos should be. 🌮🔥“

“The BEST!....Super friendly. delicious“

“First timers: 1 Elote…amazing. 2. Steak tacos…w cilantro & onions….scrumptious. 3. chix Burrito w the works….really, really delicious. 4. Pork Al pastor tacos….soooo.flavorful. Green tomatillo (we think) sauce….slurp it w a straw fantastic. Red sauce…zippity-do-da-delicious. Thx Don Pastor. Looking forward to a Al pastor burrito, more corn and a couple chorizo tacos . Rick, Christine and Mike“

“Hidden neighborhood restaurant great service delicious coffee too“

“First time trying it today. First, the gentleman working was extremely kind and made sure to double check everything on my order was correct before and after the food was prepared. The torta with steak was phenomenal. The jalapenos in there were spot on and the thing weighed 8 lb! Tried the quesabirra tacos which did not disappoint. It came with 3. The rice and beans are packed with flavor and you get a hefty serving of each with a dinner. You get a choice of salsa red or verde. Red's got a kick but it seems more of a hot sauce than salsa I would say. They had jarritos sodas which is always a plus. And the most excellent part about it, is their tamales. I have been eating tamales my whole life and this was, in fact, the best one I have ever eaten. If you don't like spicy I wouldn't recommend, because they have a heat kick to be sure. Absolutely delicious. Ample parking room in front or behind truck. So much food with the dinners that they can be split into two meals. So happy I stopped.“

“Not long wait time. Real meat great customer service and nice size portions“

“(Translated by Google) Come here... This is where the peje bites, some tamales, tacos and gorditas and much more, come here from 6:00 pm to 11:00 pm. You have a good time in a quiet place full of lots of food for your favorite variety.(Original)Pasen por aquí... Que aquí es donde pica el peje, unos tamales, tacos y gorditas y mucho más, pasa por aquí están de 6:00 pm a 11:00 pm. Se pasa bien un lugar tranquilo y lleno de mucha comida para su variedad preferida.“

“Delicious!“

“They offer a very good specials throughout the week and the food is good.“

“Most authentic food in Milwaukee“

“Not long wait time. Real meat great customer service and nice size portions“

“Bayview finally has an LGBTQ owned restaurant and it’s excellent!“

“Such a fantastic place! Great food, everything was so delicious. Fresh tortilla chips, the best I have had. Beautiful decor. Bright and lively atmosphere. Fresh breezes flow inside on nice days with sliding doors open. Cute patio. Conveniently located. Awesome staff. Definitely a favorite to come back to. Thank you Pattie!“

“One of, if not my favorite, MKE places!“

“Excellent street tacos, very authentic. The Al pastor and lengua were particularly good.“

“Taco moto is located just outside of Boone and Crockett parking lot, we stopped in and it’s a fabulous spot to get some great tacos and sit outside an enjoy the day, we got an assortment of of tacos as to which one was the best I would have to say it’s the one that was in my hand at the time, the outside patio area with the view of Lake Michigan and the hoan bridge makes for a great date spot, as for the staff the two that were working when we arrived Steven and Tim answered all out first timer questions and were very helpful, taco were great but the friendly attitude made the experience even better“

“Not long wait time. Real meat great customer service and nice size portions“

“Best birria tacos in the city.“

“Found this place on a whim by searching food near me on our way home from St. Lukes. We checked out the menu and were sold! I must say the food was hot and tasty! I had the Onion Burger, My friend the Bang Bang Shrimp Tacos. The serving size were plentiful. We will definitely be back and we'll spread the word !! Keep it Up!!“

“I have been here many times over the last year and I can say that Feliz is the most wonderful human ever! The food is wonderful, the margs are amazing, and it’s a very fun environment!“

“Great tacos and so yummy“

“Great place to eat, we go every time we are in Milwaukee!“

“I've been to MI Casa 5 times since opening and never had a bad meal... I plan on going many more...“

“The restaurant on 84th and Lincoln has AWESOME steak quesadillas. Huge! Very rarely can I finish it for dinner.“

“Looking for an excellent vibe and great drinks / food....this is the place you are looking for! LOVE LOVE LOVE! The private party room is absolutely beautiful! Well Done!“

“The sketchier the location, the better the tacos. Nothing like looking over your shoulder on MKEs Southside to keep you alert and savoring each bite as it could be your last.Hands down, best truck in the city.Extra crispy on the tripitas (don't ask, just order)“

“The BEST!....Super friendly. delicious“

“The restaurant on 84th and Lincoln has AWESOME steak quesadillas. Huge! Very rarely can I finish it for dinner.“

“love this little food wagon. it's been here for years and continues to produce fresh and tasty goodness time and time again.“

“Awesome service. Fresh guacamole and chips. Tasty tacos not skimpy. Clean restaurant.“

“Excellent vegan food!!!!!“

“I just stopped in for the taco dinner and let me tell you it was F🔥RE! 10/10 The wait time was about 5 minutes, and the service was phenomenal. I think I found a new taco spot 😋 I’ll be going back For Sure!“

“Had a craving for some tacos and decided to stop by after work. this is my second time getting food from this truck, each time they've been quick with my order. I recommend the taco diner de asada. my wife usually doesn't like the beans, but from this place she really likes the beans.“

“If I could give a 10-star review I would!!! We hired Frida’s for a private party at our home. Excellent food, incredible service and fair pricing. Will definitely use them again!!“

“The restaurant on 84th and Lincoln has AWESOME steak quesadillas. Huge! Very rarely can I finish it for dinner.“

“This place is fantastic! We came here with a larger group for Sunday brunch. The commutation when it came to setting up the reservation was great. We were welcomed in and were able to immediately start ordering drinks. The bartenders were awesome the whole time we were there (we stayed there for about 4 hours). You go up to a window to order food and are given a pager. This worked out great because everyone could eat whatever they wanted to. The food was delicious!!! All of it!! They also had vending machines with fun stuff in them and pull tabs so that kept everyone busy for a while. I’d definitely return and can’t wait to try more off the menu! Thank you for everything, Justin!“

“Great service from Mateo during these old ladies’ liquid lunch day!“

“I have only visited the Sun Prairie location since October 2023. My go-to is the breakfast sandwich and my son, who is very particular about his French Toast, says it's his absolute favorite. I'm not a coffee drinker but their Chai is my favorite when I'm out and about. Don't forget to ask for the cheesy potatoes!“

“Me tardaron más de media hora por 3 mendigo s tacos no mmn es la de aki la de la 11 pésimo restaurante“

“Yes for me food is always fresh“

“The restaurant on 84th and Lincoln has AWESOME steak quesadillas. Huge! Very rarely can I finish it for dinner.“

“We ordered from Tacos El Pastorcito Mixe and everything was amazing. We ordered two horchatas, the Pastorcito burger, and al pastor tacos. The tacos were juicy, generously filled, and packed with flavor, easily some of the best al pastor tacos in Milwaukee.

The burger was just as good, super juicy and tasted fresh and homemade. The fries were perfectly crispy, and the horchatas were refreshing and delicious. Overall, a solid spot that we will definitely be ordering from again.“

“Muy buena comida la mesera Mariana,siempre muy amable la comida muy Rica excelente lugar 10/10“

“The restaurant on 84th and Lincoln has AWESOME steak quesadillas. Huge! Very rarely can I finish it for dinner.“

“Absolutely one of the cleanest, fastest most accurate and best food at a reasonable price they are one of our vendors at the VA highly recommend.“