Tacolicious

About Tacolicious

Tacolicious is a taco restaurant and bar on Emerson Street in downtown Palo Alto. It is the Peninsula branch of a San Francisco company. Tacolicious began in 2009 as a stand at the Thursday Ferry Plaza Farmers Market and opened its first restaurant on Chestnut Street in San Francisco in early 2010. The company's story traces the idea to family camping trips in Baja and a later trip to Mexico City, where modern restaurants shaped the concept.

The company describes its food as being as San Franciscan as it is an homage to Mexico. Today it lists three Bay Area restaurants: the Marina and Mission locations in San Francisco and this one in Palo Alto. The same team also runs Mosto, an agave spirits bar in San Francisco.

What is on the menu

Tacos are the center of the menu, sold individually so you can mix and match. Choices include shot and a beer braised chicken, Coca-Cola braised carnitas, guajillo braised beef, crispy shrimp, Baja fried fish, the vampiro and La Veronica. Meat free options include the verduras taco, a plant based chorizo and potato taco and mushroom carnitas.

Around the tacos, the menu adds made to order guacamole, chile con queso, chicken chicharrones, small plates such as shrimp aguachile and a tuna tostada, salads, larger plates such as steak frites and house tamales and desserts including churritos and Meyer lemon flan. There is a kids' menu. The company notes that items and prices can vary by location.

Dietary labels

Tacolicious marks its menu with clear labels, which helps if you eat with dietary limits. Vegan items include the verduras taco, the made to order guacamole, black midnight beans, the rice and grilled corn. Vegetarian items include the mushroom carnitas taco, chile con queso and the refried beans. Many dishes are marked gluten free, including the carnitas, vampiro and La Veronica tacos and most sides. Ask staff about cross contact if you have a serious allergy.

Drinks

The bar is a big part of the place. Tacolicious says its cocktails are made with two ounces of 100 percent agave tequila. The list names tequilas such as El Super Blanco, Piedra Azul and Volcan. The zero proof list includes a zero proof margarita made with a non alcoholic agave spirit, house horchata, a horchata cold brew, agua fresca, Jamaica lemonade, Mexican sodas, non alcoholic beer and fresh pressed juices. There are also beers and house wines.

Seating, groups and ordering

The Palo Alto restaurant has a full dining room and bar, a covered and heated parklet and sidewalk tables. For parties, a high-ceilinged private room decorated with Paul Madonna artwork, a backlit Jarritos display and teal walls seats 30 to 40 or holds 45 standing. Menus for seated dinners and cocktail receptions are in the private dining packet on the website. Tacolicious also offers catering and online ordering for pickup and delivery.

Who it suits

Tacolicious works for a casual lunch, an after work drink with tacos or a group dinner where everyone orders their own mix. Because tacos are sold one at a time, it is easy to feed a table with different diets. The kids' menu helps on family outings. The private room is sized for office parties, birthdays and team dinners. If you want a quieter, more formal Mexican dinner, the downtown Mexican restaurants in our food guides offer a different pace.

Tips for visiting

The Palo Alto page lists hours of 11:30 a.m. to 7 p.m. Tuesday through Saturday and a daily happy hour from 3:30 to 5:30 p.m. The company menu page lists a weekday happy hour and Taco Tuesday at all locations. Because these listings do not fully agree and no Sunday or Monday hours are posted, call before you go. Our Mexican and Latin American food guide compares other taquerias. The vegetarian and vegan guide lists more meat free options and the downtown guide covers the surrounding streets.

Location and getting there

Tacolicious is at 632 Emerson Street, Palo Alto, CA 94301, in the Downtown area of Palo Alto. Our Downtown guide covers what else is around.

The Palo Alto Caltrain station is less than a quarter mile away, a walk of a few minutes.

Parking: street spaces and city garages with posted limits (see parking in Palo Alto).

Hours

Hours from the business's own website, checked October 29, 2026.

What is nearby

• Romi Boutique, store, under 0.1 mi
• YogaSource Palo Alto, studio or gym, under 0.1 mi
• Sephora Downtown Palo Alto, salon or spa, under 0.1 mi
• Mendocino Farms, quick-service spot, under 0.1 mi
• MNT Studio, studio or gym, under 0.1 mi
• Pacific Art League, under 0.1 mi
• King Plaza and City Hall, under 0.1 mi
• Lytton Plaza, 0.1 mi

Other restaurants nearby: Meyhouse (under 0.1 mi); Buca di Beppo (under 0.1 mi); Pizzeria Delfina (under 0.1 mi); Palo Alto Creamery (under 0.1 mi). Browse the full restaurants list.

Before you go

• Popular dinner spots in Palo Alto fill up on Friday and Saturday nights, so book ahead where the restaurant takes reservations.
• Many kitchens close earlier than in big cities. Plan to order by about 9 p.m. on weeknights unless the posted hours say otherwise.
• If you have allergies or dietary needs, call ahead or check the current menu on the restaurant's website.

About this listing

Checked October 29, 2026 against Tacolicious Palo Alto location page; Tacolicious menus; Our Story; Private dining. How our listings work. Map data © OpenStreetMap contributors.

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