6 Best Taco Restaurants near Waukesha

“Any day is a good day to visit Guanajuato Mix, they have so many yummy options. But, if you’re looking for the best birria (I’ve tried a lot), check them out Fridays or Saturdays. Their special comes with consome and a drink (i love their horchata and they have other agua freaca) They don’t judge if you have to one of the quesabirria tacos before you drive away…I do 😂 see y’all as soon as I’m in town!“

“Awesomely fresh, great selection. We travel all the way across town for it, they’re the best!“

“first time here and definitely will be heading back. food was delicious 😋! Service was top notch. Definitely recommend if you are in Waukesha“

“This is a taco truck that my hubby and I saw and decided to stop and try it out, first we tried the tacos de asada, pastor, lengua y cabeza which it only took one bite to know that this are some of the best tacos we’ve had in a very long time, then we ordered a quesadilla and a torta, the quesadilla de asada was super big with a home made corn tortilla also super delicious and the torta de asada was fantastic, and the people that work in the taco truck are super nice and friendly... over all a fantastic experience. Pansa llena corazon contento.“

“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!“

“I was there for the S'mores launch at the end of January 2026. The beers I tried were all great! The food I ordered came out really fast, expecially for how busy the place was! The only thing I was not impressed with was the mobile ordering app. I was not able to add a tip or log into my tab after my food was delivered. Otherwise, great place!“