The Ultimate Churro Guide to Greater Milwaukee

Finding that perfect crispy, cinnamon-sugar-dusted churro has never been easier.

From authentic panaderias on Milwaukee's South Side where recipes have been passed down for generations, to specialty churro shops at outlet malls, the greater Milwaukee metro area offers an impressive variety of this beloved Spanish-Mexican treat. This comprehensive guide covers 100+ churro-serving establishments across six counties, organized geographically to help families plan efficient churro adventures—whether you're craving a quick treat after soccer practice or planning a full dessert destination outing.

The region's churro landscape spans traditional Mexican-style churros (crunchy exterior, soft inside, rolled in cinnamon sugar), Spanish-style churros (served with thick hot chocolate for dipping), and creative American interpretations including churro pancakes, churro cheese curds, and filled churros oozing with dulce de leche. Prices range from $2.50 for a classic churro at neighborhood taquerias to $15 for theatrical tableside experiences at upscale restaurants.

Milwaukee County

Milwaukee County offers the greatest concentration and variety of churro options in the entire state, anchored by the vibrant Hispanic community on the South Side and Walker's Point neighborhoods. This is where you'll find authentic panaderias that have perfected their churro recipes over decades.

South Side panaderias: The authentic experience

Mr. Churro (Taqueria Mr. Churro) at 2333 W. National Avenue stands as Milwaukee's most dedicated churro destination. Open since 1992, this family bakery specializes in elongated churros—Mexico's answer to the donut—baked fresh daily starting at 5:30 AM. Caramel and guava-filled varieties are available, and they offer bulk discounts for fundraisers and events. The $1.25 tacos make this a budget-friendly family stop. Hours run Monday-Friday 5:30am-6pm, Saturday 5:30am-2pm, Sunday 6am-2pm. Phone: (414) 389-9511.

El Rey Foods operates multiple locations with in-house bakeries producing fresh churros daily. The flagship at 916 S. Cesar E. Chavez Drive features a full café area where families can enjoy churros alongside authentic tamales and fresh tortillas. The El Rey Plaza location at 3524 W. Burnham Street greets customers with the unmistakable aroma of fresh churros upon entry.

For hidden-gem panaderias, explore:

• La Nueva Bakery (500 W. Lincoln Ave.) — Traditional churros crispy outside, tender inside, most items under $1

• La Flor de Trigo Bakery (1321 W. Lincoln Ave.) — Churros made from scratch by a family with Mexican bakery heritage

• Panaderia El Sol De Mexico (1708 S. Muskego Ave.) — Open 5:30am-8:30pm, traditional pan dulce selection

• Arcoiris Bakery (1414 S. 6th St.) — Daily 7am-9pm, fresh baked churros

Walker's Point and Third Ward: Upscale churro experiences

Movida at Hotel Madrid (600 S. 6th St.) delivers authentic Spanish-style churros in an upscale setting. Their Churros con Chocolate features freshly fried crunchy churros with bittersweet chocolate dipping sauce for approximately $6. Churro Bites come with a choice of dulce de leche, chocolate, or raspberry dipping sauces. Great for a special family outing. Hours: Monday-Friday 4pm-9pm, Saturday 10am-10pm, Sunday 10am-9pm. Phone: (414) 488-9146.

Catrina Cafe (606 S. 5th St.) offers Latin-inspired churros in a beautifully decorated space with colorful murals. The kid-friendly atmosphere includes two parking lots and a private event space. Available for delivery via DoorDash and Uber Eats.

Kompali Taqueria on Brady Street (1205 E. Brady St.) serves churros stuffed with cajeta (caramel sauce) for just $3—a crowd favorite that consistently ranks among Milwaukee's most-ordered churro delivery items. They also operate a location in 3rd Street Market Hall for downtown convenience. Phone: (414) 210-3010.

BelAir Cantina: Creative churro innovations

BelAir Cantina pioneered creative churro concepts that have become Milwaukee classics. Their Downer Avenue location (2625 N. Downer Ave.) and Water Street location (1935 N. Water St.) serve identical menus featuring:

• Four Crispy Churros — Cinnamon-sugar dusting with dulce de leche dipping sauce

• Churro Cheese Curds — Wisconsin cheese curds battered, fried, dusted with cinnamon sugar, served with chantilly crema and dulce de leche (~$14.64)

• Churro Taco — Housemade crunchy churro taco shell filled with whipped topping, fresh strawberries, Nutella drizzle, and dulce de leche

• Churro Pancakes (brunch only) — Topped with cinnamon sugar, chantilly crema, whipped cream, and maple syrup

Kids menus available at all locations. Hours: Monday-Thursday 11am-10pm, Friday 11am-11pm, Saturday 10am-11pm, Sunday 10am-10pm.

Suburb standouts in Milwaukee County

Taco Stop MKE in South Milwaukee (513 N. Chicago Ave.) offers three churro varieties: Plain ($2.50), Caramel ($3.00), and Churro Sundae ($4.50). Named "Best Local Takeout 2021," this family-owned spot features outdoor seating with a fireplace and enchiladas made from a six-generation family recipe. Phone: (414) 574-5123.

Mex Avenue at the Mayfair Collection in Wauwatosa serves mini churros and Churro Pancakes at brunch—three buttermilk pancakes stacked with mini churro bites and powdered sugar.

Uncle Julio's near Wauwatosa delivers theatrical churro experiences with their signature Chocolate Piñata—a hanging dark chocolate piñata filled with toasted mini churros and fresh seasonal fruit, cracked tableside. Their standard churro dessert includes a dozen cinnamon-sugar coated churros with house-made chocolate sauce.

Waukesha County: Suburban churro destinations

Waukesha County offers excellent churro options concentrated in Brookfield, downtown Waukesha, and Pewaukee.

Downtown Waukesha authentic spots

Cantarito's Restaurant (408 E. Main St., Waukesha) makes everything in-house, including fresh churros served with flan and tres leches. Owner Anthony Camacho takes pride in authentic preparation. Extended weekend hours (until 2:30am Friday-Saturday) make this a unique late-night churro option.

Taco Jalisco (801 W. Moreland Blvd., Waukesha) serves house-made churros described by reviewers as "outstanding." Known for generous portions and authentic quesabirria tacos, this cozy spot opens at 9am daily. Phone: (262) 259-0739.

Brookfield premium options

BelAir Cantina at The Corners of Brookfield (250 High St.) brings the same creative churro menu to the suburbs. Their Churro Taco and dulce de leche dipped churros are identical to Milwaukee locations, with the added convenience of easy parking. Phone: (262) 784-4938.

Uncle Julio's (245 S. Moorland Rd.) offers their signature Chocolate Piñata experience plus family meal bundles that include a dozen fresh churros. Tex-Mex tableside guacamole and famous fajitas make this a complete family dining destination.

Chuck E. Cheese (19125 W. Bluemound Rd.) serves Unicorn Churros—baked churros dusted with cotton candy, sour apple, and blue raspberry flavored sugars. Perfect for birthday parties or combining arcade games with dessert. Phone: (262) 785-9368.

Pewaukee and lake country

The Spanish Traveler (2104 Silvernail Rd., Pewaukee) rotates specialties monthly featuring cuisines from Mexico, Guatemala, Spain, Cuba, and the Caribbean. Their Spanish churros pair perfectly with fried ice cream. Counter-service style keeps it casual and family-friendly. Hours: Monday-Saturday 10:30am-8pm (Friday until 9pm), closed Sunday. Phone: (262) 544-0104.

Food truck find

Taqueria Doblado operates from a blue taco truck in the parking lot behind the Old Oconomowoc Enterprise building on Wisconsin Avenue. Their street-style churros are listed right on the menu board alongside authentic tacos and tortas. Outdoor picnic tables, cash and credit accepted, DoorDash delivery available.

Ozaukee County: North Shore churro options

Churro options in Ozaukee County are more limited than areas with larger Hispanic populations, but two excellent options stand out for North Shore families.

Daily Taco & Cantina (105 W. Freistadt Rd., Thiensville) serves churros fried to order using recipes from Guadalajara, Mexico. The owner, a native of Guadalajara, prepares all desserts from scratch. Drive-through and curbside pickup options make this convenient for families on the go. Hours: Tuesday-Saturday 11:30am-8/10pm, Sunday 11am-7pm, closed Monday. Phone: (262) 302-4030.

Lime Cantina (W62N550 Washington Ave., Cedarburg) offers Churro Fries for $9—warm churros cut into fry-sized pieces, rolled in cinnamon sugar, and served with both chocolate sauce and dulce de leche for dipping. The trendy atmosphere and creative menu featuring duck and lamb tacos make this a standout destination. Phone: (262) 618-3386.

For families seeking traditional panaderia churros, the nearest authentic Mexican bakeries are approximately 20-30 minutes south in Milwaukee—Mr. Churro Bakery remains the closest dedicated churro destination.

Washington County: West Bend and beyond

Washington County has developed a surprisingly robust churro scene centered in West Bend, with additional options in Slinger and Germantown.

Polanco Mexican Restaurant & Cantina (1058 E. Commerce Blvd., Slinger) serves what one reviewer called "some of the best churros I've ever had in my life" for $7. The beautiful Día de Los Muertos murals create a festive atmosphere. Daily specials include Taco Tuesday and Fish Fry Friday. Hours: Sunday-Thursday 11am-8pm, Friday-Saturday 11am-9pm. Phone: (262) 297-1788.

Sabor A Mezcal Fusion Bar and Grill (111 N. Main St., Suite 104, West Bend) is the newest Mexican restaurant downtown, with an owner from Oaxaca who makes all desserts and breads fresh daily. The churros come highly recommended by staff and patrons. Oaxacan fusion specialties include mezcal-infused dishes. Hours: Tuesday-Thursday 11am-10pm, Friday-Saturday 11am-11pm, closed Sunday-Monday. Phone: (414) 930-3968.

Cabana Mexican Cantina (1102 E. Paradise Dr., West Bend) serves churros with vanilla ice cream alongside a cozy fireplace atmosphere. Part of the La Cabaña family of restaurants, they also operate an attached grocery store. Taco Tuesday features $1.25 tacos after 2pm. Phone: (262) 429-1395.

Don Ramon Mexican Restaurant (501 Wildwood Rd., West Bend) offers churros with whipped cream, cherry, and chocolate syrup as part of a full dessert menu that also includes Chimicheese Cake and Gansito Split. Happy hour runs 2-6pm daily. Phone: (262) 447-1111.

Racine County: Hispanic heritage and authentic churros

Racine's significant Hispanic community translates to numerous authentic churro options, including traditional panaderias.

Bakery and panaderia churros

Lopez Bakery (1667 Douglas Ave., Racine) is a traditional Mexican panaderia open daily 5:30am-9pm. Fresh churros join a full selection of conchas, tres leches cakes, empanadas, and pan dulce. Piñatas and prayer candles line the shelves, creating an authentic atmosphere. DoorDash delivery available for churro cravings. Phone: (262) 633-0097.

Restaurant standouts

Jose's Blue Sombrero (6430 Washington Ave., Racine) has won "Best Mexican Restaurant" in Racine for nine consecutive years. Their churro menu includes traditional cinnamon-sugar churros with choice of strawberry, chocolate, vanilla sauce, or honey, plus seasonal Churro Bread Pudding on their Street Sheet menu. Free taco bar during happy hour (3-5pm Monday-Saturday). Phone: (262) 886-5600.

Lety's Mexican Restaurant (3408 Douglas Ave., Racine) offers 2 churros for $4—a straightforward, traditional preparation. Delivery available via DoorDash and Uber Eats. Phone: (262) 770-3139.

Los Compadres in Burlington has earned rave churro reviews: "Warm, fresh, and covered in that lovely sugar cinnamon." This family-owned community favorite has operated since 1997. Dine-in, carryout, and delivery available.

Kenosha County: Specialty churro shop and authentic bakeries

Kenosha County features a dedicated churro shop—a rarity in the region—plus authentic panaderias serving fresh-fired churros.

The dedicated churro destination

Churro Factory (Xurro) at Pleasant Prairie Premium Outlets (11211 120th Ave., Pleasant Prairie) is the only dedicated churro shop in the greater Milwaukee metro area. Fresh made-to-order churros come with drizzled caramel, chocolate, or strawberry sauce. Churritos (mini churros) are available in 12-packs perfect for sharing. Their signature Iced Churro Horchata pairs perfectly with warm churros. Funnel cakes and ice cream round out the menu. Hours: Daily 10am-7pm. Phone: (262) 857-3223.

Authentic Kenosha panaderias

La Luz Bakery & Bridal Cakes (3013 60th St., Kenosha) draws rave reviews for "freshly fired churros" alongside traditional tres leches cake, flan, and pan dulce. Open daily 6am-9pm, this full Mexican bakery also creates custom wedding cakes. Phone: (262) 654-3054.

Panaderia San Jose (1351 52nd St., Kenosha) operates on the 52nd Street corridor—Kenosha's Hispanic downtown. Traditional Mexican bakery products include churros as standard offerings.

Restaurant churros

El Sarape (5836 75th St., Kenosha) serves 3 churros with whipped cream for $6.99. This family-owned restaurant offers a buffet option perfect for hungry families. Delivery available via DoorDash, Grubhub, and Uber Eats. Phone: (262) 697-7212.

Iguana Wana Mexican Grill & Tequila Bar (9080 76th St., Pleasant Prairie) offers filled churros for $5.25—baked pastry filled with vanilla cream and rolled in cinnamon sugar. The heated outdoor patio with fireplace seats large families comfortably. Live mariachi performs the first Friday of each month. Phone: (262) 694-5400.

La Fe Cafe (3806 Roosevelt Rd., Kenosha) consistently ranks as Kenosha's best Mexican food, with churros on the menu alongside incredible mole sauce and sweet empanadas. Family-run with an authentic, no-frills atmosphere. Phone: (262) 697-4226.

Quick-stop chains serving churros

For convenient churro fixes, several chains maintain locations throughout all six counties:

Taco Bell operates approximately 20 locations across the metro area, periodically featuring specialty churros including recent Milk Bar Birthday Cake Churros—warm, crispy churros filled with birthday cake frosting and topped with sprinkles. Menu availability varies; standard Cinnamon Twists are always available.

QDOBA Mexican Eats includes churros on their dessert menu at locations throughout Milwaukee, Waukesha, and Racine counties.

Chuck E. Cheese locations in Brookfield, Milwaukee, and Mount Pleasant serve Unicorn Churros—perfect for birthday party outings combining games and dessert.

Planning your churro adventure

For families making churros the main event, consider these strategic approaches:

South Side Milwaukee Panaderia Crawl: Start at Mr. Churro for the flagship experience, then visit La Nueva Bakery and finish at El Rey Foods—all within a 15-minute drive of each other. Budget approximately 2-3 hours and $15-20 per family.

Outlet Mall Churro Stop: Churro Factory at Pleasant Prairie Premium Outlets makes the perfect post-shopping reward. The food court location allows parents to split up—one grabbing churros while others continue shopping.

Special Occasion Churros: Uncle Julio's Chocolate Piñata experience creates lasting memories with its tableside presentation—ideal for birthdays or celebrations worth the $15+ investment.

Quick Weeknight Churros: BelAir Cantina locations offer consistent quality with easy parking and kids' menus. The Brookfield location at The Corners is particularly family-friendly.

Most establishments offer takeout and delivery through major apps including DoorDash, Uber Eats, and Grubhub. Call ahead for large orders or to confirm current churro availability, as some restaurants rotate dessert offerings seasonally.

Conclusion: A region rich with cinnamon-sugar treasures

The greater Milwaukee metro area surprises with its depth of churro options—from third-generation family bakeries to modern fusion interpretations. Milwaukee's South Side panaderias offer the most authentic, budget-friendly options, while upscale restaurants in Walker's Point and suburban locations deliver creative experiences worth the premium. Ozaukee and Washington counties, though less dense with options, each feature standout destinations worth the drive. For the ultimate churro-specific experience, Churro Factory in Pleasant Prairie remains the only dedicated churro shop in the region.

The key discovery: churros priced under $5 at authentic panaderias often rival or exceed more expensive restaurant versions. Mr. Churro, Lopez Bakery, and La Luz Bakery prove that the best churro experiences don't require fancy settings—just fresh preparation and time-tested recipes. Bring the family, order extra for the car ride home, and consider freezer bags for bulk purchases from bakeries that sell by the dozen.