5 Best Tacos in Milwaukee, According To Our Readers (2023)

Your Taco Tuesdays will never be the same.

Milwaukee is a city with a booming culinary scene and passionate food enthusiasts. So when it comes to finding the most mouthwatering tacos in town, who better to turn to than the locals themselves?

We reached out to our readers to discover their favorite taco spots across the city.

And they delivered! (Passionately.)

Whether you’re a visitor looking to explore the city’s culinary gems or a resident eager to discover hidden taco treasures, our readers’ recommendations can serve as your trusted guide.

From traditional taquerias serving up authentic Mexican delights to modern eateries experimenting with innovative ingredients and techniques, Milwaukee’s taco landscape offers a diverse range of flavors and experiences.

We’re excited to present this handpicked selection of the top five taco destinations that earned the seal of approval from our readers.

1. Guanajuatos

2317 S Howell Ave, Milwaukee, WI 53207

Guanajuato Mexican Restaurant, affectionately known as “GTO” among regulars, is a family-owned establishment in Milwaukee, renowned for its authentic Mexican dishes.

It emerged as the clear winner for tacos among our readers.

Since their opening in 2007 in the Bayview Neighborhood, Guanajuato has garnered a loyal following.

In 2013, they relocated to a brand new location at 2317 S. Howell Avenue, solidifying their presence as a go-to destination for the best Mexican food in Milwaukee.

The best part? Many reviews mentioned the place being family-friendly.

Don’t miss their Kids Menu, with a mini burrito, chimichanga, and more, all priced below $10. Each item comes with a choice of rice and beans or French fries, as well as a small horchata or lemonade.

2. Paloma Taco & Tequila

5419 W North Ave, Milwaukee, WI 53208

Paloma Taco and Tequila, led by restauranteur Pattie Ford, has garnered a reputation for its inviting atmosphere, delicious tacos, and refreshing craft cocktails.

Pattie’s previous success with Juniper61 and her strong connection to the neighborhood led to her latest venture, Paloma, located just five blocks away.

Paloma’s interior reflects a vibrant and lively ambiance, and guests consistently raved about their experiences.

Despite the smaller dining room, the intimate setting fosters a sense of community, where patrons find themselves engaging in conversations with fellow diners, sharing recommendations and building a neighborhood-like camaraderie.

Standout menu items include the flavorful taco pockets (try the spicy chicken), Mexican street corn taco, generous quesadillas, infused tequilas, and mouthwatering hot chips.

3. Bel Air Cantina

Various locations

BelAir Cantina has become a go-to destination in Milwaukee for its exceptional lineup of tasty tacos, tantalizing margaritas, and more.

With deep roots in the local community, this restaurant offers a unique fusion of traditional Mexican cooking techniques and innovative flavors, resulting in a menu that is both delightfully different and bursting with fresh ingredients.

The ambiance at BelAir Cantina strikes a perfect balance between laid-back and energetic, creating a welcoming and lively atmosphere that is ideal for gathering with friends and loved ones.

With multiple locations throughout the Milwaukee area, including Water Street, Tosa, Downer, Oak Creek, and Brookfield, it offers convenient access for taco enthusiasts across the city.

Some standout choices include the Birria, featuring tender beef birria complemented by onions, cilantro, and a side of consommé. The Carne Asada presents a mouthwatering combination of grilled steak, onions, and cilantro, while the Carnitas offers traditionally prepared pork topped with pico de gallo.

The Cochinita Pibil showcases Yucatan slow-roasted pork prepared in a banana leaf, accompanied by pickled onions.

With its diverse menu, lively ambiance, and dedication to quality ingredients and flavors, it’s no wonder BelAir Cantina has been celebrated by the readers as the third-place winner for the best tacos in Milwaukee.

4. Chuchos Red Tacos

4511 S 6th St, Milwaukee, WI 53221

6751 W National Ave, West Allis, WI 53214

Chucho’s Red Tacos in Milwaukee, WI is a beloved taco joint known for its tacos de birria, featuring slow-cooked birria served with consome for dipping. The restaurant offers both Beef and Chicken Birria options.

The readers who voted for this restaurant were passionate!

Recent reviews describe the atmosphere as reminiscent of a farm in the city, and the food is praised for its exceptional taste. The service is friendly and accommodating, and the menu provides various convenient ordering options.

The red taco and quesitaco plates, which include rice and beans, are highly recommended.

Visitors also appreciate the outdoor patio and seating area, featuring the Frida garden and a large red chair.

5. Hectors

Hector’s, 7118 W State St, Wauwatosa, WI 53213

Hector’s, located in Wauwatosa, has been around for 31 years and has garnered a loyal customer base.

Customers frequently visit Hector’s and praise it as an unassuming and unpretentious gem. The service is highly regarded for being friendly and accommodating.

Menu highlights include shredded beef tacos, tamales, and customizable nachos, although everything on the menu is said to be enjoyable. The restaurant also features a lovely patio.

Honorable Mentions:

Boca Rica

Taco Moto

Al Pastor

Taco Stop


Marta’s tamales

Cielito Lindo

El Dorado (Hales Corners)

Tlaxtalteca Restaurant


Spanish Traveler in waukesha

Romeros taco trucks

Frida’s Cocina truck

Cafe Corazon


Taco Stop (Elm Grove)

La Dama


Taqueria buenavista


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About the author

In 2013, Calie Herbst, a former teacher with three little ones, saw a need for a “One Stop Shop” for family fun in Milwaukee. So she founded Milwaukee With Kids. Her goal was to find the best this city has to offer families and share it with other parents. In one place. In 2019, she published "Exploring Milwaukee With Kids", a comprehensive Milwaukee travel guide for families and kids. She appears regularly on WISN News, Fox 6's 'Real Milwaukee', B93.3, and Wisconsin Morning News. She has been featured in Medium, the Milwaukee Journal Sentinel, NPR, the Wisconsin Jewish Chronicle, and on CBS 58 News. Calie is available for hosting, moderating and media appearances.

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