Taqueria El Palmar
145 W Main St, Waukesha
(262) 446-4888
Customers' Favorites
Taco Locos and Chicken Chimichanga Dinner
Tostada-Ground Beef with Rice and Beans
A Chicken Torta and a Steak Torta
Carne Asada Tacos with Avocado
Quesadilla with Rice and Beans
Taco 1 with Choice of Meat
Chicken Enchilada Lunch
Chicken Mole Burrito
Chips and Guacamole
Huevos Con Chorizo
Tacos
Asada Taco
Steak.
Pollo Taco
Chicken.
Suadero Taco
Flank steak.
Al Pastor Taco
Marinated pork.
Chorizo Taco
Mexican sausage.
Picadillo Taco
Ground beef.
Lengua Taco
Beef tongue.
Carnitas Taco
Fried pork.
Cabeza de Res Taco
Beef head meat.
Barbacoa de Chivo Taco
Barbacoa of goat.
Taco Loco
Enjoy a world flavor with a perfect combination of meats.
Taco Huevo con Chorizo
Mexican sausage and eggs.
Tripa Taco
Beef tripe.
Cecina Taco
Dried steak.
Mar y Mar Taco
Enjoy the full flavor of the sea in a taco. Shrimp, crab, octopus, clam, and squids.
Camaron Taco
Shrimp.
Pescado Taco
Fish.
Taco de Guacamole
Antojitos
Burrito
Comes with choice of meat, beans, lettuce, tomatoes, sour cream, and cheese.
Burrito Suizo
Melting cheese. La carne de su gusto, frijoles, lechuga, tomate, crema y queso. Comes with choice of meat, beans, lettuce, tomatoes, sour cream, and cheese.
Nachos
Nachos con Camaron
Nachos with shrimp.
Nachos Supreme
La carne de su gusto, frijoles, aguacate, lechuga, tomate, chile verde, crema y queso. Comes with choice of meat, beans, avocado, green peppers, lettuce, tomatoes, sour cream, and cheese.
Tostadas
La carne de su gusto, frijoles, crema, lechuga, y tomate. Comes with choice of meat, beans, sour cream, tomato, lettuce, and mozzarella cheese.
Tostada de Camaron
Tostada with shrimp.
Tostada de Marimar
Tostada de Pescado
Tostada with fish.
Sopes
Tomate, lechuga, crema y queso. Tomatoes, lettuce, sour cream, and cheese.
Chalupa
La carne de su gusto, lechuga, tomate, crema y queso. Comes with choice of meat, lettuce, tomatoes, sour cream and cheese.
Tortas
La carne de su gusto, frijoles, aguacate, lechuga, tomate, milanesas pollo o res, crema y queso. Comes with choice of meat, avocado, lettuce, tomatoes, sour cream and cheese.
Guarache
Tomate, lechuga, crema, queso. Tomatoes, lettuce, sour cream, and cheese.
Guacamole and Chips
Quesadilla Mexicana
Cebolla, tomates y green peppers. Onions, tomatoes, and green peppers with choice of meat.
Quesadilla de Camaron
Quesadilla
Comes with choice of meat (la carne de su gusto).
Consume de Chivo (12oz)
12oz de Consume de Chivo
Consume de Chivo (16oz)
16 oz Consume de Chivo
Breakfast
Plain Omelette
Beaten eggs that are folded over a filling.
Ham Omelette
Beaten eggs that are folded over a filling and pork.
Sausage Omelette
Beaten eggs that are folded over a filling.
Denver Omelette
Beaten eggs that are folded over a filling.
Cheese Omelette
Beaten eggs that are folded over a filling.
Palmer Steak Omelette
Steak, onion, tomato, and green pepper.
Western Omelette
Tomatoes, green peppers, onions, and cheese.
Vegetarian Omelette
Beaten eggs that are folded over a filling.
3 Eggs Any Style
Eggs w/Hash-browns
3 Eggs Any Style with Sausage
3 Eggs Any Style with Ham
Anytime Breakfast Skillets
Denver Skillet
Diced ham, onions, green peppers, and melted cheese.
Chicken Skillet
Grilled chicken breast, onions, green peppers, tomatoes, and melted cheese.
Garden Skillet
Green peppers, onions, tomatoes, and melted cheese.
Palmar Skillet
Chorizo, steak, tomatoes, green peppers, onions, pico de gallo, and melted cheese.
Steak Skillet
Juicy steak, onions, tomatoes, green peppers, and melted cheese.
Chorizo Skillet
Chorizo, onions, green peppers, tomatoes, and melted cheese.
Mexican Style
Huevos a la Mexicana
scrambled eggs w/ onions, jalapeños, and tomatoes and rice and beans.
Huevos con Chorizo
scrambled eggs w/ Mexican Sausage and Rice and Beans
Huevos con Jamon
Scrambled eggs w/Ham and rice and beans
Huevos Rancheros
Arrachera n Eggs
Steak with Eggs and Rice and Beans
French Toast, Pancakes, and Breakfast Burrito
Fluffy Delicious French Toast
Comes with syrup.
Fluffy Delicious French Toast with Strawberry
Golden Brown Pancakes
Comes with syrup.
Golden Brown Pancakes with Strawberry
Comes with syrup.
Breakfast Burrito
Carne de su gusto, huevo y queso. Choice of meat, eggs, and cheese sauce or mozzarella.
Breakfast Sides
Toast
Hot, browned sliced bread.
Grilled Bolillo
Hash Browns
Fried shredded potatoes.
Ham
Cooked meat from the upper part of a pig's leg.
Sausage
3 pieces.
Platillos Dinners
Tacos Dinner
3 Tacos with Rice & Beans
Burrito Dinner
Burrito with rice & beans
Fajitas de Res, Camaron y Pollo
steak, shrimp, or chicken fajitas with green peppers, onions, and tomatoes.
Fajitas Locas de Toluca
Camaron, pollo, azada, y chorizo. Combination of steak, shrimp, chicken, and chorizo.
Burrito de Camaron
Shrimp Burrito w/Rice and Beans
Cheese Quesadilla
Cheese and Meat Quesadilla
Taco Dinner de Camaron
Taco Dinner de Pescado
Quesadilla de Camaron
Torta Dinner
Torta w/ Rice and Beans
Chile Rellenos
Con carne de su gusto. Poblano pepper filled with your choice of meat.
Enchiladas
Comes with your choice of meat. Crema, lechuga, queso y tomates. Sour creme, lettuce, tomatoes, mozzarella cheese or Mexican cheese.
Enchiladas con Camarones
Shrimp Enchiladas w/ Rice and Beans
Chimichanga Dinner
1 piece. Meat, cheese, beans, and sour cream.
Sope Dinner
2 pieces.
Flautas
3 pieces.
Milanesa de Pollo
Breaded chicken breast.
Milanesa de Res
Camarones a la Mexicana
Shrimp Mexicana style. Jalapenos, cebolla, tomates. Jalapenos, onions, and tomatoes.
Filete de Tilapia
Camarones Empanizados
8 pieces. Fried jumbo shrimps. Arroz y frijoles or french fries.
Coctel de Camarones
Cocktail shrimp.
Mojarra Frita a la Diabla
Whole tilapia pan fried with our hot diabla sauce.
Mojarra Frita al Mojo de Ajo
Whole tilapia sauteed in garlic.
Lengua en Salsa Verde
Tongue in green sauce. Served with rice, bean, lettuce, tomatoes, and tortilla.
Bistec a la Mexicana
Steak in a tomato sauce with onions, tomatoes, and jalapeno peppers.
Birria de Chivo
Guilotas
Quail. 2 pieces.
Menu Para Ninos
Kids Hamburger and Fries
Kids Quesadillas
Comes with rice and beans.
Kids Cheeseburger and Fries
Kids Chicken Fingers and Fries
Kids Taco
1 piece with choice of meat, rice and beans or french fries.
Kids 1 Egg
Hashbrowns and toast.
Kids 1 Egg with Sausage Links
2 pieces sausage links, hashbrowns, and toast.
Kids Pancakes
Comes with 2 sausage links.
Kids French Toast
Comes with 2 sausage links.
Burgers and Sandwiches
Hamburger
Grilled or fried patty on a bun.
Double Cheese Burger
Grilled or fried patty with cheese on a bun.
Cheeseburger
Grilled or fried patty with cheese on a bun.
Phillycheese Chicken
Boneless skinless chicken sandwich.
Phillycheese Steak
Sandwich with beef steak.
Phillycheese Shrimp
A sandwich comprised of fried shellfish.
Bebidas
Sidral
Non Alcholic Sangria
Refresco en Lata
Canned soda.
Jugos Jumex
Canned Jumex juice.
Aguas Frescas
32 oz
Aguas Frescas
16 oz. (regular)
Sides
Fries w/ Cheese
Side of Rice
Side de Arroz
Side of Beans
Side de Frijoles
Side of Avocado
Side de Aguacate
Side of Sour Cream
Side de Crema
Side of Tortillas
Chips & Salsa
Side of Guacamole
Fries
Side of Cebollitas
Side of Fried Onions
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Recent Reviews
This place is one of my top favorites for authentic Mexican street tacos in waukesha. They're very friendly, everything is so fresh, and incredibly fair pricing. I'll always go back here!
July 2025
80's TexMex meets my grandpa's bar! Yes, there are gambling machines in the restaurant.
Except for the guacamole, the food had no flavor! Beef burrito (with lettuce & no beans -- not by order), chicken enchilada's, mixed fajitas & 3 12oz sodas = $60!!!
The bright spot...the server was friendly & attentive!
Except for the guacamole, the food had no flavor! Beef burrito (with lettuce & no beans -- not by order), chicken enchilada's, mixed fajitas & 3 12oz sodas = $60!!!
The bright spot...the server was friendly & attentive!
May 2025
Some of the Best Mexican food I've had in a while
Parking: Small lot in front of the building
Kid-friendliness: Couple games nice dinning room
Parking: Small lot in front of the building
Kid-friendliness: Couple games nice dinning room
August 2024
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