Lupe's Taqueria
Milwaukee > Mexican > Lupe's Taqueria

Lupe's Taqueria

★★★★☆ (99 reviews) · $ Mexican
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Burrito with Barbacoa and pico, black beans, cilantro and the amazing spicy pickled onions

Burrito with Barbacoa and pico, black beans, cilantro and the amazing spicy pickled onions

Burrito

Burrito

Four pork carnitas tacos.

Four pork carnitas tacos.

3 Tacos, 2 are Barbacoa, 1spicy carne, and assortment of typical filler.

3 Tacos, 2 are Barbacoa, 1spicy carne, and assortment of typical filler.

Burrito bowls

Burrito bowls

Plus! A nice surprise! Last week I ate here 5x, no incentive before aside from great food.

Plus! A nice surprise! Last week I ate here 5x, no incentive before aside from great food.

food

food

Carnitas Burrito, Queso

Carnitas Burrito, Queso

a burrito and a beer

a burrito and a beer

Menu

Menu

¡Spectacolar!

¡Spectacolar!

food, tacos

food, tacos

Sign on the inside of the restaurant

Sign on the inside of the restaurant

Friday night old school wrestling match videos. Got to get there for some laughs.

Friday night old school wrestling match videos. Got to get there for some laughs.

Amazing* fresh* authentic * inexpensive * fast* friendly wonderful people* highly recommend! Look at my food for lunch today! Yummy!

Amazing* fresh* authentic * inexpensive * fast* friendly wonderful people* highly recommend! Look at my food for lunch today! Yummy!

two tacos in a styrofoam container

two tacos in a styrofoam container

First time here.

First time here.

burritos and wraps, wraps, food, burrito

burritos and wraps, wraps, food, burrito

The burritos are so good!

The burritos are so good!

Solid tacos. Incredibly fresh and love that you have your choice of toppings.

Solid tacos. Incredibly fresh and love that you have your choice of toppings.

burrito, wraps, burritos and wraps, food

burrito, wraps, burritos and wraps, food

outside

outside

Customer Reviews

Zach F.

★★★★★

Jan 11, 2025


Great food. The spicy pork is incredible and so are the portion sizes. Very under appreciated Mexican restaurant in the Madison area.

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Alex D.

★★★★☆

Jun 24, 2024


Great service and fresh food! I wish the menu was a little more informative with what types of meats and options there are, but I plan on becoming a regular after my first visit, so I'll have it down soon enough!Staff were friendly and informative. Horchata was very good and everything was extremely reasonably priced.

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Joel E.

★★★★★

Jan 3, 2024


What you're looking at is the remains of two spicy pork tacos. I was so hungry, and so excited to eat them that I totally forgot to take a "before" picture. We met the owner, Jesus, at a social event New Year's Eve, and he invited us over to try his taqueria.The good: Everything! Staff is nice. Restaurant is clean. The menu is burritos and street tacos, and you sort of "build your own" by selecting meat and fillings -- all of which looked fresh and appetizing. Fresh tamales on the menu, but not always available, as they make them in small batches. Definitely a case of less being more, as they have a limited menu, but focus on doing a few things well rather than many things "meh."The bad: Nothing!Overall, a great experience, and I imagine I'll be back for lunch a couple times a month, if not more frequently.

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Paula C.

★★★★★

Aug 16, 2024


Excellent service and yummy food. We really liked this place and we are totally coming back. Good flavor and great portions

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Nate M.

★★★★☆

Jun 29, 2024


Service was good and I ordered the carne asada burrito and tacos which were average. They have it set up like a chipotle where you pick your toppings.

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Stephen V.

★★★★★

Aug 11, 2022


Can't sing praises sufficient to express my undying gratitude for this creator of the worlds tastiest components, allowing us unworthy mere earthlings to feast upon burritos and tacos and other Mexican American delicacies!Tonight, just like last night at this approximate time I am completing my favorite form of being lazy: eating a burrito that I don't have to make, do dishes or anything aside from arriving prior to closing time. The amazing burritos are always good. But these two nights were especially good because the lady working has magic powers that somehow infuse the fillings with added flavor and love. I'm a bit sad because I know that tomorrow I more than likely can't make this a trifecta because I'm working 100 miles away and can't return before closing.

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Lenny S.

★★★★☆

Aug 22, 2023


A no frills taqueria with Chipotle style ordering and preparation. As soon as you order you'll get your food. Can't beat the speedy service. The tacos are huge and tasty that'll fill you up quick. We had barbacoa, spicy pork, chorizo, and steak. Only downside was that the chorizo was more like ground beef cooked with salsa. Next time I'd get 2 instead of 3 since they're so filling. The tamale was standard fare with good pork filling. I'll definitely be back.

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Aaron B.

★★★★★

Oct 19, 2024


Spicy pork tacos on corn tortillas were so, so good. Service was quick. Will definitely come back!

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Mary H.

★★★★★

Jul 25, 2024


Solid food - did steak burrito, Mexican corn and pork tamale between 2 of us and left satisfied. 2 burritos would have been too much food. Pickled onions were a nice add to what you see at other places.

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Mark S.

★★★★★

Apr 6, 2024


In from out of town. Wanted to get some good away from the crowds. Perfect place for homemade tacos

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