The Best Mexican Food in Greater Milwaukee
Whether you're craving authentic Oaxacan mole, street-style birria tacos, or a family-friendly Friday night dinner with tableside guacamole, the greater Milwaukee area delivers an incredible diversity of Mexican cuisine. This guide covers everything from hidden South Side taquerias tucked inside grocery stores to upscale contemporary Mexican restaurants in the suburbs—organized to help your family find the perfect spot for any occasion.
Milwaukee's Mexican food scene centers on the vibrant South Side, where generations of families have built authentic culinary traditions, but excellent options now span from Cedarburg to Franklin and everywhere in between. We've eaten our way across the metro area to bring you this definitive resource.
Related guides:
Milwaukee’s Best Chimichangas
Complete Guide to Birria Tacos in Greater Milwaukee
Milwaukee's South Side: The heart of authentic Mexican cuisine
The stretch along Lincoln Avenue, Mitchell Street, and Cesar Chavez Drive represents Milwaukee's most concentrated collection of authentic Mexican restaurants—many family-owned for decades. This is where serious taco hunters should start.
Guadalajara Restaurant
901 S. 10th St., Milwaukee | (414) 647-2266 | milwaukeemexicanfood.com
Operating since 1987, Guadalajara feels like walking into a Mexican grandmother's kitchen. The restaurant has mastered árbol chile preparation, creating dishes that are hard to find elsewhere in the city. Order the bistec en chile de árbol, the pozole (hominy and pork stew), or the birria de chivo (goat meat stew)—all showcase the Jalisco-style cooking that made this spot a South Side institution.
Price: $ | Best for: Families seeking authentic home-style cooking | Don't miss: The capirotada bread pudding during the holiday season
Botanas Restaurant
816 S. 5th St., Milwaukee | (414) 672-3755 | botanasoriginal.com
Voted #1 Mexican restaurant by Shepherd Express and Milwaukee Magazine, Botanas has earned its reputation over 20+ years of serving the South Side. The mole enchiladas are legendary—rich, complex, and worth the drive from anywhere in the metro area. The choriquezo appetizer (chorizo with melted cheese) makes a perfect starter for sharing.
Price: $$ | Best for: Special occasions with extended family | Hours: Sun-Thu 11am-10pm, Fri-Sat 11am-11pm | Features: Patio seating, weekday lunch specials 11am-2pm
El Tucanazo
2940 S. 13th St., Milwaukee | (414) 383-3748
This 10-seat diner with formica countertops and bolted-down stools offers Milwaukee's most authentic "transported to Mexico" experience. The camarones a la diabla (spicy shrimp) and ceviche tostadas showcase exceptional Mexican seafood rarely found in the Midwest. Yes, it's tiny and cash-only, but that's part of the charm.
Price: $ | Best for: Adventurous eaters, date nights without kids | Pro tip: Arrive early for seating—the small space fills quickly
Taqueria Los Altos De Jalisco
1336 S. 7th St., Milwaukee (inside Mi Super Foods market) | (414) 645-9902
One of Milwaukee's true hidden gems sits inside a grocery store. The tacos here—particularly the al pastor and steak—feature perfectly pillowy homemade corn tortillas and masterfully diced meats. At roughly $1.91 per taco, this represents some of the best value in the city. Look for the counter service area in the back of the market.
Price: $ | Best for: Budget-conscious families, authentic taco lovers | Cash preferred
Carnitas Don Lucho
565 W. Lincoln Ave., Milwaukee | donluchomke.com
The carnitas here—Michoacán-style pork confit sold by the pound—are legendary among Milwaukee's Mexican food cognoscenti. Don Lucho also makes exceptional house-made ground chorizo, stewed lamb, and handmade tortillas. Buy meat to-go for home tacos or eat in with their multiple homemade salsas.
Price: $ | Best for: Takeout for family taco night | Note: Limited hours—call ahead
Walker's Point and Bay View: Trendy neighborhoods with diverse options
Conejito's Place
539 W. Virginia St., Milwaukee | (414) 278-9106 | conejitosmke.com
A Milwaukee institution since 1972, Conejito's delivers the city's best value Mexican meal. Nothing on the menu exceeds $8—three enchiladas with rice and beans runs about $4.75, and margaritas cost just $3.50. The chicken mole is legendary, the bean tostadas are perfectly crispy, and the casual paper-plate atmosphere makes it ideal for families who don't want to worry about spills.
Price: $ (exceptional value) | Best for: Budget family dinners, casual gatherings | Features: Three bars, extensive seating, quick service
Cielito Lindo
733 S. 2nd St., Milwaukee | (414) 649-0401 | cielitolindomilwaukee.com
Beautiful murals of Mexican culture set the scene at this Walker's Point gem. The molcajete (volcanic stone bowl filled with grilled meats and vegetables), bistec ranchero, and pollo en mole all satisfy, while generous portions mean leftovers for tomorrow's lunch. Strong margaritas and lunch specials (Mon-Fri 11am-3pm) add appeal.
Price: $$ | Best for: Weekend family brunch, group dinners | Hours: Mon-Thu 10am-10pm, Fri-Sat 10am-midnight, Sun 8am-11pm
Café Corazón
2394 S. Kinnickinnic Ave. (Bay View) | 3129 N. Bremen St. (Riverwest) | 4102 W. Bradley Rd. (Brown Deer) | corazonmilwaukee.com
This farm-to-table taqueria sources beef from local Redeker Farms and produce from family farms, creating what LoveFood named Wisconsin's best wet burrito. The soy chorizo tacos satisfy vegetarians, while meat-lovers appreciate the pork pibil with pickled onion. Kids get coloring sheets, and the casual cantina vibe welcomes families.
Price: $$ | Best for: Health-conscious families, vegetarian/vegan diners | Deals: Taco Tuesday ($2 tacos), Monday mole specials, Thursday $1 off vegan meals
Guanajuato Mexican Restaurant (GTO)
2317 S. Howell Ave., Milwaukee | guanajuatomke.com
A family-owned Bay View favorite, Guanajuato serves high-quality handcrafted food from a menu spanning breakfast through dessert. The enchiladas, chimichangas, and flautas all deliver true Mexican flavor in generous portions. Friendly service and reasonable prices make this ideal for weeknight family dinners.
Price: $$ | Best for: Weeknight family dining
Downtown and East Side: California-Mex meets classic favorites
BelAir Cantina
1935 N. Water St. (Downtown) | (414) 273-5567 | 2625 N. Downer Ave. (Downer) | (414) 964-1190 | belaircantina.com
BelAir delivers Milwaukee's most creative taco menu—the Ninja Pig (hoisin-glazed pork) and Korean Beef tacos showcase Chef Noe's "Oaxacan meets L.A. food truck" style. Weekend brunch features excellent chilaquiles, and the Nic-aritas (signature margaritas) have earned citywide acclaim. Ask your server about the "secret taco" for something special.
Price: $$ | Best for: Families with adventurous eaters, weekend brunch | Deals: Happy Hour Mon-Fri 4-6pm, Taco Tuesday/Thursday ($2 tacos), Burrito Monday (25% off) | Features: Outdoor seating with garage doors, kid-friendly atmosphere
Jalisco's on North
2207 E. North Ave., Milwaukee | jaliscosonnorth.com
This East Side fixture has served famous burritos for decades. The ribeye steak tacos and enchiladas suizas de pollo draw regulars, while extended late-night hours make it a post-movie destination. Happy Hour (4-7pm) brings $5 margaritas and Mojito Mondays.
Price: $ | Best for: Late-night family cravings, budget-conscious diners
The North Shore: Quality options closer to home
North Shore families don't need to trek to the South Side for excellent Mexican food. These restaurants deliver quality and convenience.
Jose's Blue Sombrero
8617 N. Port Washington Rd., Fox Point | (414) 351-9280 | josesbluesombrero.com
The flagship North Shore Mexican destination since 1972, Jose's excels at tableside guacamole and creative fusion tacos—try the Korean Bulgogi Street Tacos or Jamaican Jerk Chicken Tacos. The Mexican Friday Fish Fry puts a creative spin on a Wisconsin tradition. Private event space accommodates parties of 15+, making this perfect for birthday celebrations.
Price: $$ | Best for: Family celebrations, Friday fish fry | Hours: Mon-Thu 11am-9pm, Fri-Sat 11am-10pm (closed Sundays) | Features: Kids menu, gluten-free/vegetarian/vegan options, patio with garage doors, occasional live mariachi
Boca Rica
6300 W. Mequon Rd. (inside Mequon Public Market), Mequon | (262) 236-5440 | bocaricamequon.com
Created by Chef Oliver Hunt after trips to Mexico City, Boca Rica produces what many reviewers call "the best tacos in the area." The homemade tortillas make the difference—try the carnitas or pork al pastor. The Boca Bowl with steak, rice, corn, pico de gallo, and avocado satisfies heartier appetites. Located inside the Mequon Public Market, families can explore other vendors before or after their meal.
Price: $$ | Best for: Casual family lunch, Mequon residents | Deals: Mai Tai Monday ($8), $1 off cocktails, $3 beers during Happy Hour | Hours: Daily 11am-8pm
Café Corazón (Brown Deer)
4102 W. Bradley Rd., Brown Deer | (920) 932-3062
The Brown Deer outpost of this beloved local chain brings farm-to-table Mexican closer to North Shore families. The "Truck Tacos" (street-style with choice of protein) and "Cruncher" (deep-fried burrito with queso sauce) satisfy diverse tastes. Extensive vegetarian and vegan options accommodate dietary restrictions.
Price: $$ | Best for: Health-conscious families, diverse dietary needs | Hours: Sun-Thu 11am-8pm, Fri-Sat 11am-9pm
Poco Loco Cantina
4134 W. River Ln., Brown Deer | (414) 355-9550 | pocolococantina.com
This intimate spot specializes in Yucatan Peninsula-style Southwestern cooking. Fresh guacamole, a wide selection of Mexican beers, and outdoor patio dining create a relaxed atmosphere. TripAdvisor ranks it #2 in Brown Deer.
Price: $$ | Best for: Date night for parents, smaller gatherings
Cedarburg and Grafton: Northern suburb standouts
La Cantina Mexican Restaurant
W63 N170 Washington Ave., Cedarburg | (262) 618-2027 | lacantinacedarburg.com
The quesabirria here draws raves from reviewers—"fantastic" appears repeatedly in reviews. The Mexican chicken soup is described as "AMAZING," and the margaritas arrive "as big as my head" without the thick, syrupy quality of lesser versions. Quick seating even during busy periods makes this family-friendly.
Price: $$ | Best for: Quesabirria lovers, families seeking large portions | Hours: Mon-Thu 11am-9pm, Fri-Sat 11am-10pm, Sun 11am-9pm
Lime Cantina
W62 N550 Washington Ave., Cedarburg | (262) 618-3386 | limecantinacedarburg.com
For a more elevated experience, Lime Cantina offers creative preparations rarely found at typical Mexican restaurants. The duck tacos (slow-roasted with dried cherries, mole, and Oaxaca cheese) and lamb tacos (chimichurri-marinated with black garlic mole) showcase culinary ambition. House-smoked brisket tacos and mole ribs round out an impressive menu.
Price: $$-$$$ | Best for: Special occasions, parents seeking upscale Mexican | Features: Great patio, good kids menu
Lobo's Place Mexican
1305 Wisconsin Ave., Grafton | (262) 421-8629 | lobosplacerestaurant.com
This family-owned neighborhood favorite delivers authentic recipes and Grafton's best frozen margaritas. The chicken enchiladas and carnitas tacos satisfy consistently, while the clean, roomy interior welcomes families. Over three years of operation have built strong word-of-mouth.
Price: $$ | Best for: Grafton-area families | Hours: Mon-Thu 11am-8pm, Fri-Sat 11am-9pm, Sun 11am-8pm | Features: Outdoor seating, reservations accepted
Tacos El Paisa (Food Truck)
Parked in front of Dominican High School on Silver Spring Dr., Whitefish Bay
This popular food truck brings authentic street-style tacos to the North Shore. Asada, birria, chorizo, lengua, and pastor meats come on fresh corn tortillas. Quesabirria, burrito dinners, and tortas round out the menu.
Price: $ | Hours: Monday-Friday 11am-8:30pm | Payment: Cash or Zelle ONLY
Western suburbs: Wauwatosa, West Allis, and Brookfield
Uncle Julio's
245 S. Moorland Rd., Brookfield | unclejulios.com
This upscale Tex-Mex destination serves famous fajitas featuring filet mignon or carnitas, plus the Instagram-worthy Chocolate Piñata dessert that kids adore. Tableside guacamole, 21-day aged carne asada, and made-from-scratch tortillas elevate the experience. Family portions like "Fajitas for Four" accommodate larger groups.
Price: $$-$$$ | Best for: Birthday celebrations, special family dinners | Features: Kids menu (Kidsadillas, chicken fingers), rustic-modern décor, patio seating, open kitchen
Las Cazuelas Chilaquiles & Taco Bar
6738 W. Greenfield Ave., West Allis | (414) 312-7020 | lascazuelasrestobar.com
The name says it all—chilaquiles are the specialty here, though the molcajete tacos and birria also shine. Everything is made fresh with handcrafted tortillas and salsas, and the restaurant proudly advertises MSG-free cooking. The warm, festive atmosphere welcomes large groups.
Price: $$ | Best for: Brunch (chilaquiles!), family gatherings | Hours: Mon-Sat 9am-9pm, Sun 9am-7pm | Deals: Happy hour includes $5 margaritas
Antigua Latin Inspired Kitchen
6207 W. National Ave., West Allis | (414) 321-5775 | antiguamilwaukee.com
Not strictly Mexican—Antigua draws from multiple Latin American countries—but the shrimp dishes and empanadas (created in partnership with Lola's Empanadas) have earned reviews calling it "best in Milwaukee area." The warm, welcoming owners create a special atmosphere for dinner.
Price: $$-$$$ | Best for: Adventurous families seeking broader Latin cuisine | Hours: Tue-Sun 4pm-9pm, closed Monday
BelAir Cantina (Brookfield)
Brookfield location | belaircantina.com
The suburban outpost delivers the same creative tacos and acclaimed margaritas as the Milwaukee locations. The California coast vibe and extensive taco selection appeal to families who want something beyond standard Tex-Mex.
Price: $$ | Best for: Families seeking creative options close to home
La Estacion
319 Williams St., Waukesha | (262) 521-1986 | laestacionrestaurant.com
Serving Waukesha for 30+ years, La Estacion earns its #1 TripAdvisor ranking with over 1,000 five-star Google reviews. The unique train station décor—including dine-in train cars—delights kids, while the tacos gobernador (shrimp tacos), salmon tacos, and beer-battered fish fry satisfy parents. Margarita growlers (64 oz) are perfect for backyard gatherings.
Price: $$ | Best for: Family celebrations, train-loving kids | Hours: Sun-Thu 11am-9pm, Fri-Sat 11am-10pm | Deals: Taco Tuesday all day ($1.50-$2.50 tacos) | Features: Private party train cars, outdoor patio, catering
Southern suburbs: Oak Creek, Franklin, Greenfield, and beyond
Jalapeño Loco
5067 S. Howell Ave., Milwaukee (serving Cudahy/Oak Creek area) | (414) 483-8300 | jalapenolocomilwaukee.com
Owner Hugo Saynes hails from Oaxaca, Mexico, making Jalapeño Loco Milwaukee's pioneer of authentic Oaxacan cuisine since 1995. The seven moles of Oaxaca, chiles en nogada, and other regional specialties justify the Shepherd Express calling it "the Mexican restaurant everyone wants in their neighborhood." Gluten-free menu available.
Price: $$ | Best for: Mole lovers, families seeking authentic regional Mexican | Hours: Mon-Tue 11am-8pm, Wed-Sun 11am-9pm | Features: Banquet room, weekly specials
Cozumel Mexican Restaurant
8201 S. Howell Ave., Oak Creek | cozumel-wi.com
Consistent quality and quick service have made Cozumel an Oak Creek standby. The lunch platters offer excellent value, while tacos, fajitas, and enchiladas satisfy standard cravings. Outdoor seating and TVs for sports viewing add family appeal.
Price: $$ | Best for: Weeknight family dinners, sports viewing | Features: Outdoor seating, takeout available
Little Cancun
7273 S. 27th St., Suite A, Franklin | (414) 761-6200
Family-owned since 2005, Little Cancun has earned cult following for "the best chips and salsa in Milwaukee." The homemade tortilla chips arrive crispy and warm, and the chimichangas and nachos supreme with pastor keep families returning. The very small, cozy space means potential waits during peak times—call ahead for larger groups.
Price: $$ | Best for: Chips and salsa enthusiasts, intimate family dinners | Hours: Mon-Thu 11am-9pm, Fri-Sat 11am-10pm, Sun 11am-9pm | Note: Small space—arrive early or expect a wait
Azteca Restaurant MKE
901 Milwaukee Ave., South Milwaukee | aztecarestaurantmke.com
What started as a walk-up window in a gas station has grown into a beloved South Milwaukee institution. The mole, tamales, and tostadas follow authentic family recipes, while the lunch buffet offers value. The restaurant also operates two taco trucks for on-the-go options.
Price: $$ | Best for: South Milwaukee families, lunch buffet lovers | Hours: Sun 10am-8pm, Mon-Wed 10am-9pm, Thu-Sat 10am-10pm | Features: Reservations via OpenTable, catering available
Habanero's Mexican Kitchen
7700 W. Layton Ave., Greenfield | habanerosmke.com
Multiple locations serve made-from-scratch salsas alongside extensive menus featuring street corn, steak tacos, salmon tacos, and chipotle shrimp. The colorful, welcoming environment and friendly staff make this a reliable family choice.
Price: $$ | Best for: Diverse menu options, pickup and delivery
Food trucks worth chasing
Milwaukee's taco truck scene rivals any major city. These mobile kitchens—mostly cash-only—deliver some of the most authentic Mexican food in the area.
La Flamita
Corner of 20th and National Ave., Milwaukee
Serving what Milwaukee Record calls "the best al pastor in the city," La Flamita uses a traditional trompo (rotating meat spit)—rare in Milwaukee. The $1 taco specials on Wednesdays and Sundays make this the city's best taco value. Look for the bright orange truck.
El Tapatio
Multiple locations: 17th & Lincoln; 7th & Becher; 306 E. Pleasant St.
Milwaukee's largest taco truck chain delivers excellent carne asada tacos and the famous "Frijoles ATM"—creamy pinto beans topped with carne asada, cheese, and avocado for just $5. Five tacos run $10. Cash only.
Tacos El Charrito
Four trucks rotating: First & Becher; North & MLK; 16th & Scott; 33rd & Burnham | Facebook.com/LoncherasElCharrito
The "Gigante" quesadillas with shaved al pastor justify hunting down whichever truck is closest. Tacos run about $2, and the massive quesadilla costs $7. Cash only.
El Taco Veloz
82nd and Brown Deer Rd. (visible from road in parking lot)
The campechano tacos (mixed meat) and outstanding quesadillas al pastor made on oversized corn tortillas have built a devoted following. Cash only.
Romero's Taco Truck
10840 W. Rogers St., West Allis | romerostacotruck.com
Brothers Alex and Carmelo Romero serve birria ramen, quesabirrias, Mexican corn, Volcano French Fries, and California Burritos from their West Allis location. Website accepts advance orders.
Mazorca Tacos
636 S. 6th St. (Zocalo Food Park), Milwaukee
Located at Milwaukee's premier food truck park, Mazorca serves bistec tacos marinated in Wisconsin beer, birria in adobo, and excellent vegetarian options with melted bread cheese. Homemade jamaica and horchata round out the menu.
Best-of categories at a glance
Best tacos
Taqueria Los Altos De Jalisco (inside Mi Super Foods) – Perfect homemade tortillas, exceptional al pastor
Chucho's Red Tacos – Best birria tacos with consomé for dipping (chuchosredtacos.com)
Lazo's Taco Shack (641 N. James Lovell St.) – Outstanding birria, family-owned
La Flamita (food truck) – Best al pastor in the city
Best burritos
Café Corazón – Named Wisconsin's Best Wet Burrito by LoveFood
El Señorial (1901 S. 31st St.) – Most authentic preparation, multiple varieties
Jalisco's on North – Famous massive burritos, two meals in one
Best margaritas
Blue Bat Kitchen & Tequilaria (RiverWalk) – 160+ tequilas, seasonal craft cocktails
La Piña (Harbor District) – 100+ tequilas, Tequila Tuesday specials
Conejito's Place – Best value at $3.50
BelAir Cantina – Award-winning Nic-aritas
Best value (budget-friendly)
Conejito's Place – Nothing over $8, stuff yourself for ~$10
Taqueria Los Altos De Jalisco – $1.91 tacos
La Casa De Alberto (624 W. National Ave.) – Highest-rated inexpensive Mexican
La Flamita – $1 tacos on Wednesday and Sunday
Best for families
Jose's Blue Sombrero – Little Amigos kids menu, celebration-ready
BelAir Cantina – Coloring sheets, casual atmosphere, diverse menu
Botanas – 20+ years experience, patio seating, established
La Estacion – Train car dining delights kids, 30+ year track record
Best authentic regional Mexican
Oaxacan: Jalapeño Loco (pioneer since 1995, seven moles) Michoacán: Carnitas Don Lucho (legendary pork confit) Tlaxcala: El Tlaxcalteca (regional specialties, daily pozole and pipian) Jalisco: Guadalajara (árbol chile mastery, birria de chivo)
Hidden gems worth finding
Taqueria Los Altos De Jalisco – Inside a grocery store, exceptional tacos
El Tucanazo – 10-seat diner, authentic atmosphere, amazing seafood
Guadalajara – 25+ years of old-school excellence
Little Cancun (Franklin) – Best chips and salsa in Milwaukee
Practical tips for family Mexican dining
Timing matters: Popular South Side spots like El Tucanazo and Little Cancun have limited seating—arrive before noon or after 7pm for shorter waits. Food trucks often sell out by early afternoon on weekends.
Cash is king: Most taco trucks and some taquerias are cash-only. ATMs are rarely nearby, so plan accordingly.
Spice levels vary: Authentic Mexican restaurants often serve genuinely spicy dishes. Ask servers for recommendations if dining with heat-sensitive kids. Botanas, Jose's Blue Sombrero, and BelAir Cantina all accommodate milder preferences well.
Tracking food trucks: Follow favorites on Facebook (El Tapatio, Tacos El Charrito) or check Zocalo Food Park's Instagram for daily vendor updates.
Best days for deals: Taco Tuesday specials run citywide—La Estacion ($1.50-$2.50), BelAir ($2 tacos), and many others participate. Wednesday and Sunday bring $1 tacos at La Flamita.
Conclusion
Greater Milwaukee's Mexican food scene offers something for every family—from $1.91 tacos inside a South Side grocery store to tableside duck mole in Cedarburg, from grab-and-go food trucks to upscale celebrations at Uncle Julio's. The South Side remains the authentic heartland, but excellent options have spread throughout the metro area, putting quality Mexican cuisine within reach of North Shore and suburban families alike.
The restaurants highlighted here represent the best of what's available as of early 2025. Hours and menus change, so call ahead for the most current information—especially for smaller family-owned spots and food trucks. Most importantly, explore beyond your usual neighborhood. Some of Milwaukee's finest Mexican meals await in unexpected places, from gas stations to grocery stores to parking lots where trompos spin and the al pastor sizzles.
Happy eating from all of us at North Shore Family Adventures!
The Milwaukee metropolitan area offers several quality independent restaurants providing New Year's Eve takeout on December 31, 2025.