Restaurant y Taqueria La Esperanza

See hours#3 of 110 taco spots we track in Milwaukee

Restaurant y Taqueria La Esperanza is a taqueria in Milwaukee, WI at 2028 W Mitchell St. See hours. Call +1 414-212-8535. Directions and full hours below.

About Restaurant y Taqueria La Esperanza

Restaurant y Taqueria La Esperanza is a taqueria, so expect a short, meat-forward menu, corn tortillas, and salsas made in house rather than a broad sit-down Mexican menu. It sits in Milwaukee (53204), WI, independently run.

There is no star rating on file for Restaurant y Taqueria La Esperanza yet, so it is ranked here on how taco-focused it is (a taqueria scores above a general restaurant) and how complete its public listing is, not on reviews.

If a trompo is turning, order al pastor. Otherwise asada or carnitas is the safe read. Ask for everything con todo and work the salsa bar.

It runs late, which makes it a solid after-hours option when the sit-down places have closed.

It is on W Mitchell St in Milwaukee. Use the Directions button for turn-by-turn.

Call ahead or check the map listing before a special trip. Small taquerias change hours often, and our data refreshes on a schedule, not live.

In our Milwaukee taco guide, Restaurant y Taqueria La Esperanza is ranked #3 of 110, by taco specialisation and listing completeness. How we rank.

What to expect on the menu

We do not have Restaurant y Taqueria La Esperanza’s exact menu on file, so this is what a taqueria of this kind typically serves, not a guarantee of today’s board:

• Al pastor, when there is a trompo turning
• Carne asada and carnitas
• Pollo, and often suadero, lengua or cabeza
• Corn tortillas, doubled
• A salsa bar with onion, cilantro, lime and two or three house salsas

For the real menu and prices, use the venue’s site or the Google listing.

Opening hours

Menu

The current menu, prices and photos are on www.rytlaesperanza.com. You can also search Restaurant y Taqueria La Esperanza on Google or open its Google Maps listing for the menu, dish photos and recent reviews.

Closest taco spots to Restaurant y Taqueria La Esperanza

Straight-line distance from Restaurant y Taqueria La Esperanza, nearest first — useful if it is shut, the queue is long, or you want a second stop.

1. Taqueria el CabritoTaqueria · 1679 S Muskego Ave · next doorHours not recordedCallDirections
2. La Chinampa Food TruckTruck · 2000 S Muskego Ave · 0.3 mi awayHours not recordedCallDirections
3. El Buen Taco y la Buena ArepaTaco shop · 1537 W Bow St · 0.3 mi awayHours not recordedCallDirections
4. Taqueria CampechanoTaqueria · 1801 W Greenfield Ave · 0.4 mi awayHours not recordedCallDirections
5. La Fondita de MilwaukeeTaco shop · 2523 W Greenfield Ave · 0.5 mi awayHours not recordedCallDirections
6. Tacos GuelaguetzaTaco shop · 1515 W Lapham Blvd · 0.5 mi awayHours not recordedCallDirections

Get directionsSee all 110 taco spots in Milwaukee →

Restaurant y Taqueria La Esperanza: common questions

Is this your restaurant, or spotted something wrong? The fastest fix is the OpenStreetMap record, or send us the correction. No charge to claim or update a listing.

Last updated September 29, 2026. Venue details refresh with each data import.