19 Best Mexican Restaurants in Waukesha

“would recommend Casa Noble to anyone and everyone. Great food, friendly staff, fast quality service, affordable pricing. Nory is an absolute angel of a human being!“

“first time here and definitely will be heading back. food was delicious 😋! Service was top notch. Definitely recommend if you are in Waukesha“

“Every item we have tried has been delicious. Great service!“

“This is a taco truck that my hubby and I saw and decided to stop and try it out, first we tried the tacos de asada, pastor, lengua y cabeza which it only took one bite to know that this are some of the best tacos we’ve had in a very long time, then we ordered a quesadilla and a torta, the quesadilla de asada was super big with a home made corn tortilla also super delicious and the torta de asada was fantastic, and the people that work in the taco truck are super nice and friendly... over all a fantastic experience. Pansa llena corazon contento.“

“Excellent authentic food and great service“

“Huge shout out to Casa Tequila in West Bend for my experience tonight. My 2.5 year old son had a puking incident there and the staff were all so kind. Our waitress, other waiters/waitresses in our area, and the woman who came over to help clean things up were so wonderful and also so nice to my son. No one looked disgusted or irritated. It was just amazing. The service is always great there, and same with the food. Thank you Casa Tequila West Bend, I will never forget your kindness in a stressful situation.“

“5*
I'm always happy with the food, the chips and salsa are great! The food never disappoints. It's not a fancy restaurant but won't grade it under 5* for atmosphere, you get what you pay for, authentic, delicious, Mexican cuisine at an affordable price.“

“The pizza is our new favorite!!!! loved it!!!!“

“Omggg. Great chimichangas. Burritos. Salsa and chips. Quick and great portions.“

“Javier was our waiter today and made my grandson's 5th birthday very special! We had the best food and experience, complete with photos of us all in Sombreros! Thank you for the best lunch experience, Javier!“

“Tasty food. Great service. My son, JJ, has made Diane into his BFF and she’s always sweet and spoils him when we go in. A really good family friendly restaurant!“

“Deliciosa comida. 100% recomendado“

“Just stopped in to satisfy a need for tacos and I wasn't disappointed! Our server was a very friendly gentleman. The food came out rather quickly. And the tacos and tamales were excellent. My daughter said to remember this place and she's kinda picky. So if that tells you anything“

“Tasty food. Great service. My son, JJ, has made Diane into his BFF and she’s always sweet and spoils him when we go in. A really good family friendly restaurant!“

“Amazing! we have been back many many times! really a must if you love good food❤“

“First time at QDOBA. Food was great and the staff explained options for making up my bowl. Meat was spicy but not to hot. Choices were plenty and I ended up with enough left over for a meal the next day. We'll definately stop again on my next trip to Milwaukee.“

“The line was long when we went in, so I decided to place an online order while I was in line. Super fast service! I had my food about the same time as my place in line and was able to sit and enjoy conversation instead of being stuck in the line. Amazing service!“

“We visited Taco John’s in Waukesha on 9/5/2026 and we were immediately greeted by such a friendly employee when we walked in. He was Helpful, patient, kind, professional as he took our order. The restaurant was clean. Food was made fresh. The crew making the food were friendly too. Kitchen looked clean. Taco John’s in Waukesha continues to our go-to place for a quick, delicious meal. Keep up the great work!“