Milwaukee's best tacos: Your ultimate guide

Milwaukee's taco scene delivers everything from $1 street tacos to chef-driven creations—and yes, there are solid options right here on the North Shore.

Whether you're craving authentic birria with consommé for dipping, looking for a patio where the kids can be kids, or need vegetarian options that don't disappoint, this guide covers the greater Milwaukee area's best taco spots with all the practical details families need. We've done the homework on parking, kid-friendliness, picky eater options, and the best times to visit so you can focus on enjoying those tacos.

North Shore taco spots worth knowing about

Good news for local families: you don't always have to trek to the South Side for quality tacos. The North Shore has several worthy options, from creative fusion to authentic Mexico City-style preparations.

Jose's Blue Sombrero in Fox Point remains the North Shore's most established Mexican restaurant, operating since 1972 from its Riverpoint Village location at 8617 N. Port Washington Road. This family-friendly spot offers creative fusion tacos (think Korean, Vietnamese, and Jamaican jerk chicken varieties) alongside traditional options, plus a free taco bar during happy hour (3-6pm daily, bar area only). The large parking lot and 14-table patio make it practical for families, and there's a full kids menu. Hours are Monday-Thursday 11am-9pm and Friday-Saturday until 10pm. Price range: $5-8 per taco.

HIYA Taco in Shorewood at 4144 N. Oakland Avenue offers the area's most family-friendly grab-and-go option. Run by the BelAir Cantina team, this counter-service spot serves breakfast tacos starting at 9am (8am weekends) with items like the Bacon & Egg taco ($3.50) and creative lunch options including the Milwaukee Brat taco ($4.25). Vegetarians get love here too with mushroom carnitas and Asian jackfruit tacos. The casual vibe and quick service work well with antsy kids.

Boca Rica in Mequon at 6300 W. Mequon Road consistently earns praise as the best authentic option on the North Shore. Chef Oliver Hunt's Mexico City-inspired menu features homemade tortillas, carnitas, and excellent al pastor. Happy hour runs 11am-5:30pm with $1 off cocktails and $3 beers. Open daily 11am-8pm.

For a taco-focused special outing, Cloud Red in Shorewood (4488 N. Oakland Avenue) offers Taco Tuesday with $5 tacos (shrimp, pork, or tempeh) and $6 tall margaritas. The gastropub atmosphere works better for older kids. Closed Sunday-Monday.

A North Shore food truck discovery: Tacos El Paisa parks in front of Dominican High School on Silver Spring Drive in Whitefish Bay, Monday-Friday 11am-8:30pm. This authentic truck offers the full range—asada, pastor, birria, lengua, carnitas—with taco dinners at $12. Cash or Zelle only.

Best authentic and traditional Mexican tacos

For the real deal, head to Milwaukee's South Side where generations of family recipes meet neighborhood pride.

Guanajuato Mexican Restaurant (GTO) in Bay View wins reader polls consistently and deserves its reputation. Located at 2317 S. Howell Avenue, this family-owned spot serves street-style tacos with traditional fillings—pollo, asada, pastor, lengua, chorizo—at prices that won't break the bank. The dedicated kids menu includes items under $10 with rice, beans, and drinks. Dogs are welcome on the large outdoor patio. No reservations—first come, first served. Their Taco Tuesday and Thursday deal offers $1.50 tacos or 4 for $5. Hours: 10am-10pm most days.

El Tlaxcalteca Restaurant inside the El Rey plaza at 1300 W. Burnham Street feels like stepping into Mexico City. The birria menu alone offers regular tacos, keto tacos (cheese tortilla), vampiros, mulitas, and birria ramen. Don't miss the machete—fresh masa pressed into a large oval and filled with meats. Counter service keeps it casual and affordable.

Carnitas Don Lucho at 565 W. Lincoln Avenue serves what Milwaukee Magazine called carnitas "akin to manna." Here's the catch: they're only open Friday-Sunday (opening at 6am Friday, 4am Saturday-Sunday) and sell out quickly. You'll see glistening pork carnitas at the counter, choose from up to six homemade salsas, and understand why regulars arrive early. They also sell meat by the pound for home tacos.

El Cabrito at 1100 S. 11th Street specializes in birria de chivo (goat birria)—the name means "little goat" in Spanish. If you've only had beef birria, the slow-roasted goat with cinnamon, cumin, and lemon peel notes offers a revelation.

Best birria tacos in Milwaukee

The birria trend shows no signs of slowing, and Milwaukee delivers with several standout options for those Instagram-worthy red tacos with consommé.

Lazo's Taco Shack at 641 N. James Lovell Street downtown repeatedly earns "best birria in Milwaukee" honors. This veteran-owned, family-run spot packs big flavor into a small space—every plate made with care. Beyond the excellent birria tacos, they're known for the best horchata in the city. Happy hour runs 5-7pm Tuesday and Thursday with great tequila options. Hours: 11am-7pm Monday-Saturday, closed Sunday. Taco Tuesday special: $2.25 tacos.

Chucho's Red Tacos at 4511 S. 6th Street (plus a West Allis location) started as a food truck and built a passionate following. Their Frida garden patio with the signature large red chair makes for fun family photos. Both beef and chicken birria options are available, plus birria ramen for the adventurous. The outdoor space gives kids room to move. Taco Tuesday special: $1.85 for beef birria, chicken birria, or steak red tacos.

El Campechano food truck near 6th and Becher serves what some call "the most elevated birria on the south side," including birria de chivo for goat enthusiasts.

Best creative and fusion tacos

Milwaukee's chefs put creative spins on the taco format without losing respect for the original.

Taco Moto (formerly Gypsy Taco), parked behind Boone & Crockett at 2151 S. Kinnickinnic Avenue in Bay View, proudly serves "unapologetically unauthentic" tacos. Chef-driven creations include Dr. Pepper braised pork shoulder with aioli, cabbage, and pickles, plus seasonal offerings like seared ahi tuna with nori and sesame. At $4-6 per taco, prices run higher than street tacos, but the quality justifies it. The backyard bar setting works for families in the afternoon before the evening crowd arrives.

BelAir Cantina (multiple locations including Water Street downtown, Wauwatosa, and Brookfield) built its empire on "Mexican with Cali flair." Creative options like the Cheeto-crusted chicken taco and bacon-fried avocado taco sit alongside solid traditional birria and carnitas. The spacious patios and multiple convenient locations make this a go-to for families. Takes reservations, which helps with planning. The Wauwatosa location's fountain patio feels especially family-friendly. Deal: $2 select tacos on Tuesdays, Wednesdays, and Thursdays.

Paloma Taco & Tequila has locations in Washington Heights (5419 W. North Avenue) and Bay View (2156 S. Kinnickinnic Avenue). The menu bridges traditional and creative with options like crispy brussels sprout tacos, cajun shrimp, and the "Gringo All The Way" alongside carne asada and chorizo. Known for excellent infused tequilas and a neighborhood feel.

Kompali Taqueria on the Lower East Side offers 37 taco varieties including blackened shrimp, brussels sprout, and deep-fried avocado alongside traditional options. The Nahuatl name means "compadres," and the welcoming vibe lives up to it.

Best taco trucks and casual spots

For authentic street taco experiences at wallet-friendly prices, Milwaukee's food trucks deliver.

Mazorca Tacos at Zócalo Food Park (636 S. 6th Street, Walker's Point) earns editors' pick status for good reason. Their handmade tortillas grilled for extra crispness elevate every taco, particularly the bistec with beer-marinated Wisconsin beef and whole pinto beans. Cash only. Zócalo operates year-round with heated huts in winter, and the food park setting offers varied options if family members want different cuisines.

La Flamita at the corner of 20th and National Avenue serves what many consider Milwaukee's best al pastor, cooked on an authentic trompo (vertical spit)—one of the few trucks still using this traditional method. Every order includes pineapple and "curtido" (pickled onions, habanero, cucumber). The magic number: $1 tacos on Wednesdays and Sundays.

Taqueria la Guelaguetza Oaxaca parks near 13th and Lapham and brings Oaxacan authenticity including another authentic trompo for al pastor. The alambre ($15)—a grilled meat tray with cheese, avocado, and tortillas—might be "the best thing at a taco truck" per Milwaukee Magazine. Cash only.

Tacos El Charrito operates four trucks around the city (including 33rd and Burnham, their most recommended location). The gigante quesadilla ($7) with al pastor feeds hungry kids, and their chorizo earns raves. Cash only; tacos run $2.

El Tapatio, Milwaukee's largest taco truck chain with locations including 17th and Lincoln and 306 E. Pleasant Street, offers consistent quality and their signature frijoles "ATM"—stewed beans topped with carne asada, cheese, and avocado ($5). Five tacos for $10. Cash only.

Best tacos for kids and picky eaters

These spots make family taco outings stress-free with kid-specific menus and mild options.

Guanajuato leads the pack with a dedicated kids menu featuring items under $10 including mini burritos and chimichangas, each served with rice and beans OR French fries, plus a small horchata or lemonade. They offer both "Mexican style" (cilantro, onions, lime) and "American style" (lettuce, tomato, cheese) tacos—a game-changer for picky eaters.

BelAir Cantina understands that sometimes kids just want a cheese quesadilla (flour tortilla with cheese, crema, lettuce, pico de gallo on the side). The familiar flavors and spacious patios reduce mealtime stress. Multiple locations mean you can pick the most convenient spot.

Chucho's Red Tacos might seem like an adventurous choice, but the colorful Frida garden patio captures kids' attention, and basic red tacos and quesitacos work for younger palates while adults enjoy the specialty birria.

Café Corazón (Riverwest and Bay View locations plus Brown Deer at 4102 W. Bradley Road) takes a farm-to-table approach that appeals to health-conscious parents. Their hand-crafted quesadillas come with multiple protein choices, and the variety of mild options (chicken, ground beef, cheese & onion) accommodate most kids. The Brown Deer location serves North Shore families well.

HIYA Taco in Shorewood keeps it simple with quick counter service, breakfast tacos that appeal to all ages, and nothing too intimidating on the menu. The casual atmosphere forgives spills and noise.

Best sit-down taco restaurants

When you want table service and a more relaxed meal, these restaurants deliver quality tacos in comfortable settings.

BelAir Cantina (multiple locations) offers the most family-practical combination of reservations accepted, spacious seating, full bar for parents, and kid-friendly options. The Wauwatosa location with its fountain patio feels especially suited to family meals.

Café Corazón serves locally-sourced Mexican fare at both the Riverwest location (3129 N. Bremen Street) and Bay View (2394 Kinnickinnic Avenue). The Bay View location's beautiful back patio works well for warm weather dining. Both spots seat around 80 with patio space in summer. Note: not on OpenTable, so call directly for groups.

Jose's Blue Sombrero in Fox Point provides the North Shore's best full-service Mexican experience with creative tacos, extensive tequila selection, and established family-restaurant atmosphere. The Mexican Fish Fry on Fridays offers an alternative for seafood-loving family members.

Hector's at 7118 W. State Street in Wauwatosa has served the neighborhood for 31 years with an unpretentious approach. Their shredded beef tacos, customizable nachos (let kids pick toppings), and cute outdoor patio create a low-key family atmosphere.

Poco Loco Cantina at 4134 W. River Lane in Brown Deer takes an upscale approach to Mexican cuisine with items like duck tacos and crab quesadillas. The outdoor patio (with blankets available) is larger than the indoor space. Good for special occasion family dinners.

Best value taco options

Stretch your family's taco budget at these affordable spots.

Restaurant Deal Location La Flamita $1 tacos (Wed & Sun) 20th & National Oscar's Winner's Circle $1 steak or pork tacos (Taco Tuesday, dine-in) 3800 W. Burnham St. Guanajuato $1.50 tacos or 4 for $5 (Tue & Thu) 2317 S. Howell Ave. Tu Casa Mexican $1.50 tacos 3710 W. Lincoln Ave. Chucho's Red Tacos $1.85 birria tacos (Taco Tuesday) 4511 S. 6th St. Tacos El Charrito $2 tacos Multiple trucks Mangos Cafe $2 tacos (13 types) 1682 N. Van Buren St. El Tapatio 5 tacos for $10 Multiple trucks BelAir Cantina $3 select tacos (Tue-Thu) Multiple locations Margarita Paradise 3 tacos for $5 (Taco Tuesday) Milwaukee Public Market

Best vegetarian and vegan taco options

Plant-based eaters find excellent options throughout Milwaukee's taco scene.

Café Corazón stands out for extensive vegan and vegetarian options across all locations. Their soy chorizo tacos earn "the best" designation from reviewers, and the herbed tofu, mushroom, and pibil (Yucatan-style) options satisfy. Everything can be customized for dietary needs.

The Laughing Taco at 1033 S. 1st Street in Walker's Point serves a standout nopalitos (cactus) taco—cactus prepared in mild chile sauce with cilantro and onion on corn tortilla. The focused menu and counter-service format keep it simple.

Kompali Taqueria on the Lower East Side offers numerous vegetarian options including brussels sprout tacos and soy chorizo. The blackened shrimp works for pescatarians.

HIYA Taco in Shorewood serves creative vegetarian options including mushroom carnitas ($3.75), Asian jackfruit ($4.25), and Pop Rock tofu ($4)—options interesting enough that meat-eaters might be tempted to try.

Beerline Cafe along the Milwaukee River's East Side takes vegetarian dining seriously with standout chickpea chorizo tacos and cauliflower tacos. The restaurant's eco-friendly design includes a 200-foot living wall.

Family planning essentials

Best times to visit with kids

• Early dinner (4-6pm) beats the rush and works with younger bedtimes

• Weekday lunches often include specials; Guanajuato offers affordable lunch specials Monday-Friday 10am-2pm

• Avoid Taco Tuesday evenings at popular spots—arrive early or try Taco Thursday instead (BelAir and Guanajuato run Thursday deals too)

Parking overview

• Guanajuato: Street parking, can be limited during peak times

• Jose's Blue Sombrero: Large lot with ample parking

• BelAir Cantina Wauwatosa: Suburban location with better parking than downtown

• Chucho's Red Tacos: Parking lot available

• Café Corazón locations: Easier parking than downtown per reviews

• Food trucks: Street parking varies; arrive with flexibility

Reservation policies

• Takes reservations: BelAir Cantina

• Walk-ins only: Guanajuato, most taquerias

• Not on OpenTable: Café Corazón (call directly)

Wheelchair accessibility

BelAir Cantina and Guanajuato both list wheelchair accessibility in their restaurant profiles.

Outdoor seating highlights

• Chucho's Red Tacos: Colorful Frida garden with photo-op chair

• BelAir Cantina Wauwatosa: Fountain patio

• Café Corazón Bay View: Beautiful back patio

• Guanajuato: Large patio, dogs allowed

• Poco Loco Cantina: Spacious patio with blankets

• Zócalo Food Park: Multiple seating areas, covered and open

Mark your calendar: Milwaukee Taco Fest 2025

The 11th Annual Milwaukee Taco Fest returns May 3, 2025 at The Yard at Bayshore in Glendale—right in North Shore territory! Running noon-4pm with free admission, this family-oriented event features multiple taco vendors, live music from De La Buena, salsa dancers, face painting, balloon twisters, piñatas, and even taco book storytime for little ones. Confirmed vendors include Pina Mexican Eats, Mango's Cafe, and Ochoa's Mexican Grill. VIP tickets ($50) are available for those wanting extra perks. Bring chairs or blankets. Details at milwaukeetacofest.com.

Quick reference by category

Best for families with young kids: Guanajuato, BelAir Cantina, HIYA Taco

Best for adventurous eaters: Carnitas Don Lucho, El Cabrito, Jalapeño Loco

Best North Shore options: Jose's Blue Sombrero (Fox Point), Boca Rica (Mequon), HIYA Taco (Shorewood)

Best food truck experience: Zócalo Food Park with Mazorca Tacos

Best special occasion: Poco Loco Cantina, Taco Moto

Best Taco Tuesday: Oscar's Winner's Circle ($1), La Flamita ($1), Guanajuato ($1.50)

Best for groups: BelAir Cantina (reservations), Lazo's Taco Shack

Best birria: Lazo's Taco Shack, Chucho's Red Tacos

Best al pastor: La Flamita (trompo), Taqueria la Guelaguetza Oaxaca

Best carnitas: Carnitas Don Lucho (weekends only)

Best vegetarian: Café Corazón, Kompali Taqueria, HIYA Taco

Whether you're introducing little ones to their first taco or embarking on a South Side food truck crawl, Milwaukee's taco scene offers something for every family adventure. Most importantly, nearly every spot on this list welcomes families warmly—because tacos, after all, are meant to be shared.