Lonchera El Tapatio Taco Truck: Authentic Mexican Tacos in Milwaukee

Welcome to the flavorful world of Lonchera El Tapatio Taco Truck, a beloved gem nestled at 1575 Riverwalk, Milwaukee, WI. If you seek authenticity and taste akin to a traditional taquería, this food truck has become a must-visit destination in the vibrant Milwaukee culinary scene.

Step up to the window of Lonchera El Tapatio, and you’re greeted by the tantalizing aroma of grilled meats and the warm, inviting smiles of the staff. Patrons rave about the friendly and efficient service, often noting satisfaction with their meals in under 10 minutes—perfect for a midday lunch rush. The truck serves a delightful variety of tacos, featuring options like chicken, steak, pork, and chorizo, all topped with fresh raw onions and fragrant cilantro. Each meal comes either with a side of Mexican rice and refried beans or alone, showcasing a flavor profile that is both simple and extraordinary.

The Dinners for $14.49 are a standout, where you can enjoy three tacos accompanied by vibrant lime and a selection of salsas—perfect for the taco enthusiast. Many customers, like Cassadie Ransom, declare it the "best taco truck in Milwaukee," while others, such as Kristin White, have fallen in love with the gigantic chicken burrito, noting its tender meat and generous portions. The quality is consistent; even the highly sought-after Charolazo allows you to order tacos in bulk, feeding a crowd or satisfying your own cravings.

Feedback from customers like Britney Moses highlights the meticulous preparation of the chorizo tacos, where flavors meld perfectly with the freshness of the toppings. The mini tacos also add a delightful twist for those who want a variety on their plates. And if you’re in search of excellent value, BryDeV affirms that the burritos and tacos are exceedingly fulfilling without breaking the bank.

Although some reviews mention minor hiccups—like limes lacking juice—this hardly diminishes the overall experience at Lonchera El Tapatio. The charm lies not just in the food, but in the entire experience. Patrons describe the convenience of its location, which offers a lovely view for those who wish to devour their tacos on-site, making every bite a pleasure.

Thus, if you find yourself near the Riverwalk, do not miss out on Lonchera El Tapatio Taco Truck. It promises a fiesta of flavors that will leave you yearning for your next visit, earnestly staking its claim as a taco destination you won't want to overlook.

Delivery
Takeaway

Lunch
Dinner
Solo dining

Wheelchair-accessible seating

Comfort food
Late-night food
Quick bite

Lunch
Dinner
Table service

Casual

Groups
Tourists

Accepts reservations

Credit cards

Good for kids

Cassadie Ransom

28/10/2025

Best taco truck in Milwaukee! Service is friendly and fast, prices are fair and food is DELICIOUS! Seriously, give them a try; you’ll be hooked!

Kristin White

25/10/2025

One of the best chicken burritos I’ve ever had. Gigantic and I ate every single bite!! Super nice workers and took less than 5 minutes for order for 2. Chicken was so tender!!! Just fabulous!

Britney Moses

02/10/2025

This was a first-time stop for us at Lonchera El Tapatio Taco Truck, and it did not disappoint. My coworker and I ordered 3 tacos with chorizo as my meat of choice—and wow, the flavor was to die for. The chorizo had a beautiful, tasty char and was cooked to perfection. The cilantro, onion, and green chili pepper toppings were spot on. I don’t know why I’ve always been too excited to eat the tacos to take the time to break up the chili on top, but this time I did—and it was a total game changer. It was also quick and easy to get in and out with our food, even during the lunch rush, which made the experience even better. The only two things that weren’t beyond perfect were: The limes looked great but had almost no juice to squeeze out (though that’s hard to fault them for). I ordered them as they came, on corn tortillas. They did the job, but I’ll try flour tortillas next time if they have them. Even my deskmate—who comes from a Mexican household—said the corn tortillas here were just “okay.” Not bad, just not stellar. Still, for just under $10, I got 3 wonderful tacos plus salsa and verde salsa on the side without even asking. Great value, excellent flavor, and quick service. Bottom line: I’ll most certainly be back—if they have flour tortillas—and I have a feeling I’ll have a hard time going anywhere else for lunch when I want Mexican!

J Blakley

20/09/2025

Best tacos in the city! I don’t care how far I live I’m going to patronize this truck! Not only is the food amazing but the service is impressive. Even at its busiest times you can get in and out within 10-15 minutes. The location is convenient to down and has an amazing location that if you can’t wait to get home to eat you can stop and enjoy a beautiful view with amazing food.

BryDeV

10/09/2025

Great taco truck. Awesome burritos. Quick, friendly, clean taco truck at a good price. Just as good as their Southside locations.

Kristen Prahl

05/09/2025

Best tacos I've had in Wisconsin, and I'm comparing them to the tacos I loved in Mexico. I got al pastor and asada and walked a minute to the Riverwalk and ate on a bench. Will definitely return when I'm in the area.

Maia H

16/07/2025

This is our go-to taco truck! We haven't ordered anything besides tacos, but I highly recommend them! My husband and I share the 5 taco platter. He gets pork and I get avocado. It comes with a roasted pepper, onions, and two hot sauces. The green salsa is delicious but spicy and the red is more mild. I also like the location because there are plenty of benches along the river to eat it outside. The only downfall is that it is CASH ONLY. Enjoy!