14 Best Taco Restaurants in Milwaukee

El Tapatio taco truck Mexican • $
700 W Becher St, Milwaukee

Customers` Favorites

Quesadilla
Mini Tacos
Burrito
Tongue
Steak

“A nice convenient taco truck PAY WITH CASH ONLYReally excellent service and excellent portions as well, the food was delicious and exactly the taste of Mexico when you’re missing home. Authentic and run efficiently. But be sure to bring cash beforehand, the ATM near the gas station had a single 20$ and charged a 2.75$ service fee.“

4.7 Superb35 Reviews
Azteca Taco Truck Tacos •
2012 W College Ave, Milwaukee

Customers` Favorites

Al Pastor Tacos
Rice and Beans
3 Birria Tacos
Chimichangas
Street Tacos
Quesadilla
Burritos
Elotes

“Best taco truck around. Food is always delicious, hot and fresh! Today I got 2 amazing tacos for less than $6 which they can do Mexican or American style. They give you 2 different kinds of salsa and a couple limes. You can order over phone or walk up. They also have tons of other food options and are very friendly.Parking: Parking is street only but free and they are just across the sidewalk.“

4.7 Superb34 Reviews
Zócalo Food Park Food Court • $
636 S 6th St, Milwaukee

Customers` Favorites

Goat Cheese and Pear Pizza Salami
Chicken Arepas
Vegetarian
Pork Arepa
Empanadas
Mexican
Elotes
Sushi

“Love this place- the food, the vibe, everything. Anytime Arepa is consistently amazing. The cocktails at the bar are good. This is a monthly summertime destination for us, but we still stop and pick up food to go in the colder months.Dietary restrictions: Anytime Arepa is a mostly gluten free truck. They have delicious vegetarian options as well. A few of the other trucks have vegetarian options as well.“

4.5 Superb66 Reviews
Frida's Cocina MKE Food Truck Mexican • $
2496 S Wentworth Ave, Milwaukee

Customers` Favorites

Al Pastor

“They brought their truck to our wedding venue for a late night snack and provided tacos and churros for about 175 guests. Alex was easy to work with and was very good with communication during the entire process. The food was awesome and all of the guests left happy. Have been to the food truck on a few other occasions and have always had great food!“

5 Superb16 Reviews
Lonchera El Tapatio Taco Truck Tacos • $
1575 Riverwalk, Milwaukee

Customers` Favorites

Charola de 20 Tacos A Su Eleccion
Frijoles Charros
Mini Tacos Order
Frijoles ATM
Street Tacos
Quesadilla
Tacos Con
Cilantro
Burritos
Steak

“Hands down some of the best tacos in Milwaukee,Wi. Everything Fresh made to order! Love the staff who remain consistent and very detailed to your specific order. Come with cash they are cash only so be prepared! Trust me you won’t be disappointed! Get a mini taco dinner for me! Can you say ? yum!!!“

4.6 Superb35 Reviews
Lazo's Taco Shack Mexican • $$
641 N James Lovell St, Milwaukee

Customers` Favorites

Birria with Consome
Chips and Salsa
Burrito Dinner
Taco Dinner
Birria Taco
Carne Asada
Chilaquiles
Tacos

“The BEST birria tacos in Milwaukee hands down. I’ve tried just about everywhere and no other place stands a chance. Atmosphere is great music is too low or too loud. If you need or want something a simple look at your server and they’ll come right over. Prices for the amount of food is absolutely killer. Everything I’ve ever order from Lazo’s is full full full of flavor. If you’re visiting Milwaukee or live here, you definitely should come check Lazo’s Tacos out. Seeing door dashers come in and out without waiting for more than 5 minutes is also a great sign they are doing something correct.“

4.4 Superb78 Reviews
Paloma Taco and Tequila Tacos • $
5419 W North Ave, Milwaukee

Customers` Favorites

Street Corn and Avocado Quesadilla with Spicy Chicken
Mexican Street Corn & Avocado Quesadilla
Chips and Queso and Salsa
Brussel Sprout Tostada
Mexican Street Corn
Chips and Queso Dip
Smothered Burrito
Pineapple Carnitas
Chips & Salsa
Loaded Frites

“Paloma is not only my favorite Mexican restaurant in Milwaukee, it also has incredible value for the food itself. The service is awesome. If there is a wait, which there most certainly will be because of good the food is, the hostess will offer you a drink to enjoy. The atmosphere is fantastic. It's not like all the new Mexican restaurants in Milwaukee where you can tell they just throw everything on top of a tortilla that has been made for the last 3 hours. Everything is authentic and made to order. I love Paloma and can't wait for their new location in Bay View to open as well.“

4.3 Superb121 Reviews
Guelaguetza Milwaukee Tacos • $$
3050 South 13th Street, Milwaukee

“All the Milwaukee Mexican food trucks are good, this one offers asada alambre which I highly recommend. Quite a few offerings you don't see all the time. Cash only still. Don't be intimidated if you see lots of people in line or waiting, they are rightfully popular but I've never waited that long to eat. Generous portions, reasonably priced.“

4.8 Superb12 Reviews
El Ya Llegaras Tacos • $
1207 W Lincoln Ave, Milwaukee

“(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.“

4.6 Superb17 Reviews
Ventura's Taco Truck Tacos • $
53207, Milwaukee

Customers` Favorites

Tacos Asada & Pollo Steak & Chicken
Birria Dish
Burrito

“An extension of Ventura's tacos physical store, this truck is definitely A Tier Mexican food in Milwaukee and if you see it stop and give them a try. You won't be disappointed except for the fact you should have stopped before.Food is really good especially their tacos and chips and their burritos are large and in charge. Get one suizo.“

4.5 Superb22 Reviews
Tacqueria el Cabrito Tacos • $$
1679 S Muskego Ave, Milwaukee

“Looking for a quick place to eat? How about a place with reasonable prices. Authentic Mexican dishes all spiced just right. I unfortunately speak no Spanish, but the employees working helped to figure out what I was asking for (a side of sauce they use on a specific dish). Everyone was so nice and I had so much food, I had lunch for the next day. The steak was very tender and juicy. The enchiladas were smothered in sauce (the way it should be). Heads up, they currently do not have alcohol but they do have Jarritos soda!“

4.4 Superb22 Reviews
Las 7 estrellas food truck Tacos • $
150 W Holt Ave, Milwaukee

Customers` Favorites

Tacos Al Pastor
Tamale

“I have never ordered something I haven't thoroughly enjoyed. I think I've tried every taco truck in bayview now and this place always brings me back. The staff is kind and service is quick. The food is flavored perfect, I can't think of a complaint.“

4.3 Superb36 Reviews
Taqueria Buenavista Tacos • $
6000 W Burnham St, Milwaukee

Customers` Favorites

Chimichanga Dinner with Rice
Chorizo Con Huevos
Chicken Quesadilla
Chips and Salsa
3 Tacos Dinner
Taco Dinner
Al Pastor
Tamales
Avocado
Burrito

“Simple vibe, fresh ingredients, and well prepared food. You can't go wrong! We stopped for a quick couple of tacos for lunch and this place didn't disappoint. Our order was ready really fast, I don't think we even waited a full 10 mins. Chicken and Al pastor tacos were super flavorful. The guac was amazing. Would definitely come back.“

4.2 Good67 Reviews
Kompali Tacos y Tortas Mexican • $
275 W Wisconsin Ave Suite 100, Milwaukee

Customers` Favorites

Grilled Chicken Taco

“Kompali Tacos y Tortas is a gem of a spot operating out of the 3rd Street Market Hall. After an Admirals game recently, we stopped by the 3rd Street Market Hall for some dinner. After wandering around and perusing all the vendors, we opted for Kompali Tacos y Tortas. I ordered the veggie burrito and my date and I got an order of their guacamole to share. The burrito was packed with mexican rice, black beans, avocado, and veggies. It was hearty and tasty! The guacamole was fresh and tasty as well. The service was friendly and efficient. You order at the counter and if you're dining in the Market Hall, they'll give you a buzzer for when your order is ready. Also worth noting, we didn't realize it when we ordered but there are QR codes on every table and you can easily order right from a table in the Market. You can even order from multiple vendors and have it on one tab. They make it easy peasy. There's plenty of comfortable table seating throughout the market so dining in is an easy option (though, the market is typically bustling so it's not a necessarily quiet meal--but we enjoyed well enough!). Get to it!“

4.5 Superb12 Reviews
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