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Your Taco Tuesdays will never be the same.
Milwaukee parents and local food lovers shared their go-to taco spots across the city, and we gathered their favorites into one easy, reader-powered guide. Whether you’re hunting for authentic street tacos, birria that melts in your mouth, or a casual family-friendly spot, these are the places Milwaukeeans return to again and again.
👉 Planning more delicious outings? Check out our roundup of Kid-Friendly Restaurants Around Milwaukee.
Quick Picks: Best Tacos in Milwaukee
- Best Overall: Guanajuatos (Bay View)
- Best Birria: Chuchos Red Tacos
- Best Modern Tacos: Paloma Taco & Tequila
- Best Family-Friendly: BelAir Cantina
- Best Neighborhood Classic: Hector’s in Wauwatosa
What Kinds of Tacos You’ll Find in Milwaukee
Milwaukee’s taco scene mirrors the city itself—diverse, creative, and full of character. You’ll find classic street tacos with fresh cilantro and onion, slow-cooked birria with rich consomé, crispy taco pockets, modern takes on Mexican street food, and plenty of family-friendly options. From sit-down restaurants to taco trucks, there’s a flavor for every preference.
1. Guanajuatos (Bay View)
2317 S Howell Ave, Milwaukee, WI 53207
Guanajuato Mexican Restaurant—affectionately called “GTO” by regulars—is a family-owned Milwaukee staple known for its authentic dishes and warm, welcoming atmosphere. It was the clear winner among our readers.
Since opening in Bay View in 2007 and later relocating to their expanded Howell Avenue location, they’ve earned a loyal following for both food and service. Many reviewers also highlight its family-friendly environment.
Don’t miss the Kids Menu featuring a mini burrito, chimichanga, and more—all under $10 and served with rice and beans or fries, plus a small horchata or lemonade.
2. Paloma Taco & Tequila (Milwaukee)
5419 W North Ave
2156 S Kinnickinnic Ave
Paloma Taco and Tequila, created by restaurateur Pattie Ford, is known for flavorful tacos, an intimate dining room, and a friendly, vibrant neighborhood atmosphere.
Readers described Paloma as lively and welcoming—small enough to feel like a community hub, yet energetic and modern.
Standout items include:
- Spicy chicken taco pockets
- Mexican street corn taco
- Generous quesadillas
- Infused tequilas
- Fresh, hot chips
3. BelAir Cantina (Multiple Locations)
Various locations around Milwaukee
BelAir Cantina has become a local staple thanks to its wide variety of tacos, fresh ingredients, and lively, approachable atmosphere. With locations across the Milwaukee area—Water Street, Wauwatosa, Downer, Oak Creek, and Brookfield—it’s an easy go-to for families and taco lovers alike.
Reader favorites include:
- Birria — tender beef birria with onions, cilantro, and consommé
- Carne Asada — grilled steak with onions and cilantro
- Carnitas — classic shredded pork with pico
- Cochinita Pibil — Yucatan-style slow-roasted pork with pickled onions
4. Chuchos Red Tacos (Milwaukee & West Allis)
4511 S 6th St, Milwaukee, WI 53221
Chucho’s Red Tacos is beloved for its birria tacos—slow-cooked birria served with rich consomé for dipping. Readers who voted for this spot were especially enthusiastic.
Highlights include:
- Beef and chicken birria options
- Red tacos and quesitacos
- Plates served with rice and beans
- Friendly service
- Outdoor patio featuring the Frida garden and a large red chair
5. Hector’s (Wauwatosa)
7118 W State St, Wauwatosa, WI 53213
A neighborhood favorite for 31 years, Hector’s is known for its friendly service, unpretentious atmosphere, and consistently delicious food.
Recommended by readers for:
- Shredded beef tacos
- Tamales
- Customizable nachos
- Cute outdoor patio
More Reader-Recommended Taco Spots in Milwaukee
Readers also suggested these additional favorites:
- Boca Rica
- Taco Moto
- Al Pastor
- Taco Stop
- Mazorca
- Marta’s Tamales
- Cielito Lindo
- El Dorado (Hales Corners)
- Tlaxtalteca Restaurant
- Conejitos
- Spanish Traveler (Waukesha)
- Romeros taco trucks
- Frida’s Cocina truck
- Cafe Corazon
- Hermanas
- Taco Stop (Elm Grove)
- La Dama
- Vegabons
- Taqueria Buenavista
- Kompalis
How We Built This List
This guide is based entirely on recommendations from Milwaukee With Kids readers—local parents, families, and food lovers who shared the taco spots they return to most.
Frequently Asked Questions About the Best Tacos in Milwaukee
Readers overwhelmingly chose Guanajuatos in Bay View as their top pick.
Chuchos Red Tacos is a standout for both beef and chicken birria.
Bay View, Wauwatosa, West Allis, Walker’s Point, and the East Side all offer popular options.
Yes – BelAir Cantina and Guanajuatos both received consistent family-friendly praise from readers.
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Calie Herbst, Editor-in-Chief of Milwaukee With Kids, has spent over a decade combining her experiences as a parent of three to create a hub for Milwaukee’s family adventures.
Her decade-long teaching career in Milwaukee Public Schools and academic background, including a Master’s in Teaching from Marquette University and dual B.A.s in Sociology and Spanish from the University of Wisconsin – Madison, fuel her passion for inclusive and engaging family content.
Calie is also a recognized voice in local media, contributing to WISN Channel 12 News, WTMJ Wisconsin Morning News, Fox 6’s Real Milwaukee, and B93.3.
Discover more about Calie’s journey and editorial approach on her About Page and Editorial Policy Page.
