Best Tacos in Waukesha, WI

9 authentic taco joints in Waukesha, ranked by the Taco Love community. From birria to al pastor, breakfast tacos to late-night street stands — every spot is mapped, photographed, and road-trip ready.

Restaurants

Taqueria Ban-Taco — tacos in Waukesha, WI

Taqueria Ban-Taco

5.0

Sunset Heights, Waukesha · $ · 1 reviews

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Restaurante Casa Noble — tacos in Waukesha, WI

Restaurante Casa Noble

4.8

Ridgewood, Waukesha · $$ · 1,081 reviews

“Casual restaurant with a neighborhood vibe offering an extensive menu of Mexican classics.”

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Taqueria Guadalajara #2 — tacos in Waukesha, WI

Taqueria Guadalajara #2

4.8

Hawthorn Grove, Waukesha · $ · 503 reviews

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Taqueria La Guelaguetza — tacos in Waukesha, WI

Taqueria La Guelaguetza

4.8

Sunset Heights, Waukesha · $ · 51 reviews

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Taco Jalisco — tacos in Waukesha, WI

Taco Jalisco

4.6

Hawthorn Grove, Waukesha · $$ · 386 reviews

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La Estacion — tacos in Waukesha, WI

La Estacion

4.3

, Waukesha · $$ · 1,993 reviews

“Mexican fare, Sunday brunch & global wines in a historic train depot with some rail-car seating.”

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Taqueria El Palmar — tacos in Waukesha, WI

Taqueria El Palmar

4.3

, Waukesha · $ · 883 reviews

“Unassuming taqueria open late with imported sodas, beers & Mexican staples like nachos.”

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