If you’re on the hunt for flavorful, wallet-friendly taco restaurants in Waco, consider this your ultimate guide. These seven spots — ranging from food trucks to sit-down taquerias — serve up delicious tacos and full plates for around $10–$20 per person, making them perfect for students, families, locals, and visitors alike. Whether you’re craving classic street-style tacos, creative fusion flavors, or breakfast tacos at the crack of dawn, there’s something here for every mood (and every schedule). Let’s dig in!
Sison Tacos
If you’re searching for amazing tacos in Waco, Sison Tacos at 601 Franklin Ave. — a local Baylor grad-owned favorite known for serving authentic Mexican tacos packed with flavor — may be the place for you. What began as a small food truck has grown into a must-visit taco destination.
Sison Tacos, established in 2015, started its journey as a food truck serving traditional Mexican dishes at Baylor events and around the Waco community. Now at its brick-and-mortar location in downtown Waco, its mission is to “transport your taste buds to the vibrant streets of Mexico one delectable dish at a time.” Try a handcrafted quesabirria taco, huarache, or torta, paired with a refreshing horchata, Mexican soda, or fresh fruit water.
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Jorge’s Cantina
If you’re craving bold, flavorful Tex-Mex in Waco, Jorge’s Cantina at 502 N. Valley Mills Drive is a top choice for locals and visitors alike. A cousin of the Waco staple George’s Restaurant, Jorge’s is known for its blend of traditional recipes with Texas-sized portions, making it a go-to spot in the search for the best Mexican food in Waco. Don’t worry — you can even grab your George’s favorites, like the Chicken Fried Steak with a unique Jorge’s twist, along with a famous Big “O”.
From sizzling fajitas to cheesy enchiladas, Jorge’s brings the vibrant taste of Mexico right to Central Texas. Whether you’re a Baylor student looking for places to have lunch in Waco or a local looking for a family-friendly dinner spot, Jorge’s Cantina delivers consistent flavor and friendly service every time. Stick with the classics, like a quesadilla or nachos, or try something new with Jorge’s brisket mole tacos and tenderloin fajitas.
Wako Taco
Located at 1800 Summer Ave., Wako Taco is one of the beloved Mexican restaurants in Waco known for serving authentic, homemade dishes with love and care. Whether you’re dining in, ordering takeout, or enjoying delivery, Wako Taco guarantees the highest quality and freshest ingredients in every meal. Its mission is simple: make every guest feel like family and serve the best Mexican food in Waco — one taco at a time.
Founded on a passion for true Mexican flavor, Wako Taco prepares each dish using traditional recipes and techniques passed down through generations. The menu features a wide variety of flavorful options, including tacos, tortas, burritos, menudo, and nachos, all made fresh to order. Its signature dish and namesake Wako Taco — filled with bistek, chorizo, bacon, sausage, grilled onions, peppers, cilantro and white cheese — is a fan favorite for anyone craving bold, savory flavor.
Wako Taco also offers a kids menu with meals like tacos, quesadillas and chicken nuggets, making it a perfect spot to have lunch or dinner with the whole family.
Taqueria Zacatecas
Taqueria Zacatecas is a local favorite near Baylor campus at 2311 La Salle Ave. celebrated for its vibrant atmosphere, authentic Mexican food, and commitment to quality. More than just a taco shop, the restaurant offers a true taste of Mexico, serving up everything from hearty birria tacos to creative dishes like their famous pizzadilla or birria ramen. Whether you’re stopping in for breakfast, lunch, or a late-night bite, Taqueria Zacatecas delivers an unforgettable dining experience every time.
The menu features fresh-made quesadillas, tortas, and nachos, along with sides like charro beans, elote, and chips with queso or salsa. Dine in, take it to go, enjoy the restaurant’s outdoor seating, or have it catered. Taqueria Zacatecas is a must-visit destination.
Taqueria El Crucero
Tucked just off the traffic circle at 2505 Robinson Drive, Taqueria El Crucero is a true Waco hidden gem. Plan your visit accordingly — the drive-through restaurant keeps a steadily moving line of cars throughout its operating hours of 7 a.m. to 2 p.m. and prefers cash.
This spot is all about breakfast and lunch tacos done right. Most people order through the drive-thru or from the pickup window, and the staff will even walk out to your car to take your order during busy mornings, making it one of Waco’s most convenient spots. It’s fast, affordable, and incredibly reliable, which is exactly why regulars swear by it.
The menu leans heavily into classic Tex-Mex comfort: fresh homemade tortillas, hearty breakfast plates like migas, huevos con chorizo, and chilaquiles, plus loaded burritos and soft or crispy tacos starting around $1.50. The Oso Burrito — stuffed with rice, beans, chicken, salsa verde, and sour cream — is locally famous among Baylorites, and the gorditas, combo plates, and nachos locos give you plenty of options beyond tacos. Everything tastes homemade, portions are generous, and the salsas (especially the creamy green) are the kind you want to bottle and take home. Pair it with a pineapple agua fresca or even a surprisingly good cup of coffee, and you’ve got the perfect morning fix.
Velvet Taco
If you’re craving tacos with personality, Velvet Taco is Waco’s bold, trendy, and slightly rebellious option. Located at 1021 S. Jack Kultgen Expy., it sits right in the middle of Magnolia traffic and late-night downtown energy — perfect for grabbing tacos before a game, after a concert, or late into the night.
Velvet Taco’s whole vibe is “globally inspired tacos with chef-level creativity.” The menu reads more like a world tour than a taqueria — think Spicy Tikka Chicken, Buffalo Chicken, Cuban Pig, Beer Battered Cauliflower, and even a Fish n’ Chips taco. They don’t shy away from flavor or toppings, loading each taco with sauces, slaws, pickled veggies, and house-made tortillas. The #3 Spicy Tikka Chicken taco is the star of the show (and the most popular nationwide), combining Indian-style chicken, cilantro crema, and basmati rice all inside a tortilla. If you’re into breakfast-for-dinner energy, they’ve got a rotating WTF (Weekly Taco Feature) that changes every week and keeps the menu exciting.
Sides and extras aren’t an afterthought either— elote-style “Kickin’ Corn,” queso blanco, and their signature red velvet cake are fan favorites. And yes, they serve great margaritas and boozy libations if you’re dining in. The interior is modern, edgy, and built for groups — think colorful murals, loud music, and an open kitchen where you can watch the tacos being made. It’s the opposite of a hole-in-the-wall taqueria, but in a good way: fun, fast-casual, and full of energy.
Muchos Tacos
If you’ve ever been to the Waco Downtown Farmer’s Market on a Saturday morning, you’re probably familiar with Muchos Tacos and the folks lined up week after week for it. This taco stand has earned a 5.0-star Google reputation for serving some of the most authentic, made-from-scratch Mexican tacos in town. It operates almost exclusively at the market on Saturday mornings (typically 9:00 a.m. – 1:00 p.m.), which makes its tacos feel a little more special — almost like a weekly event rather than an everyday stop.
Muchos Tacos keeps things simple and traditional, focusing on doing the basics extremely well. The carne asada taco is the fan favorite, but it also serves classic options like al pastor, barbacoa, and breakfast tacos. No gimmicks. No over-the-top toppings. Just bold, authentic Mexican flavors made with care.
The price point sits around $10–$20 depending on how many tacos or plates you order, and portions are generous. Customers repeatedly mention the freshness, the perfectly seasoned meats, and the friendly service that remembers regulars by name. They often sell out before closing, so the earlier you go, the better.
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