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Palo Alto does not have a taco truck on every corner, but it covers the basics well. Two family taquerias in Midtown sell super burritos and quesabirria. A Peninsula taqueria group runs a counter at Town & Country Village. Downtown has a San Francisco taco bar and a Mexico City street food spot with a mezcal list. Chains fill in the gaps, including two drive-thrus that serve after the independents close.
This page focuses on the taco and the burrito. For sit-down Mexican dinners, Caribbean food and Latin American restaurants nearby, see our Mexican and Latin American guide. Every place named below was confirmed through its own website or a verified page in our business directory in October 2026.
Burrito and taco styles
A few terms will help you read the menus.
- Mission-style burrito. The Bay Area's big burrito, with rice, beans, meat and salsa rolled in a steamed flour tortilla and wrapped in foil.
- Super burrito. A Mission burrito with sour cream, cheese and guacamole added. Sancho's and Como Esta both list one.
- California burrito. Carne asada with French fries inside, a San Diego invention. Sancho's makes it.
- Street taco. Two small corn tortillas, meat, onion and cilantro. Salsa comes from the bar or the table.
- Baja fish taco. Battered fried fish with cabbage and a creamy sauce, from the coast of Baja California.
- Quesabirria. A griddled taco filled with cheese and braised birria beef, served with the cooking broth for dipping.
- Al pastor. Pork marinated with chile and pineapple, a Mexico City favorite.
The Midtown taquerias
A short stretch of Middlefield Road in Midtown holds two taquerias about a block apart.
Sancho's Taqueria, 2723 Middlefield Road
Sancho's is a local group founded in 2005 with a second Palo Alto shop at 491 Lytton Avenue and another in Redwood City. It describes its menu as inspired by the flavors of Baja, with special focus on fish tacos and carnitas burritos. The long menu also runs to California burritos, a Super Surf and Turf burrito, quesabirria tacos, tortas, mole and breakfast plates such as chilaquiles. Tuesdays bring Taco Tuesday deals. Sancho's does dine-in, takeout, delivery and catering.
Como Esta Taqueria, 2605 Middlefield Road
Como Esta is a casual counter on the same stretch of Middlefield Road. Burritos come in chico, regular and super sizes, with seafood, fajita, breakfast and low-carb versions. Tacos run from regular and super to fish, shrimp, quesabirria and vegetarian. Plates cover al pastor, carnitas, barbacoa, pollo asado and chile relleno. It is open Monday through Saturday and closed on Sundays. Orders can be placed online through Toast.
LuLu's at Town & Country
LuLu's belongs to a family-owned Peninsula group founded in Menlo Park in 2005. Its tagline, Comida Fresca, Salsa Caliente, means fresh food and hot salsa. The menu lists eight all-natural meat choices plus grilled fish, shrimp, vegetables and vegetarian beans. You choose from three kinds of rice and from flour, spinach, tomato, whole wheat and corn tortillas. It opens early enough for a breakfast burrito before shopping or school drop-off. LuLu's also caters with a taquiza, an informal taco party where guests build their own tacos. See our Town & Country guide for parking.
Downtown taco bars
Tacolicious, 632 Emerson Street
Tacolicious began in 2009 as a stand at San Francisco's Ferry Plaza Farmers Market. Tacos are sold one at a time so you can mix and match. Fillings include beer-braised chicken, Coca-Cola braised carnitas, guajillo braised beef, crispy shrimp and Baja fried fish. Meat-free tacos are clearly labeled and include a plant-based chorizo and potato taco and mushroom carnitas. There is a full bar, a heated parklet and a private room for groups.
San Agus, 115 Hamilton Avenue
San Agus Cocina Urbana & Cocktails serves Mexico City street food. Chef Manuel Martinez's tacos include al pastor, carne asada, a crispy fried avocado taco and golden shrimp. Quesabirria, gorditas de chicharrón and tlayudas round out the snacks. The bar pours mezcal and tequila. According to its website, it opens at 3 p.m. Monday through Thursday and at noon Friday through Sunday, with a weekday happy hour.
Palo Alto Sol, California Avenue
Palo Alto Sol is a family-run Mexican restaurant on California Avenue that focuses on the cooking of Puebla. Its menu includes tacos, taquitos and burritos alongside enchiladas and larger plates. It opens for dinner only and is closed on Mondays.
Burritos with a twist
- Curry Up Now, 321 Hamilton Ave. A Bay Area chain that started as a Burlingame food truck in 2009. Its tikka masala burrito wraps Indian street food in a tortilla. All the meat is halal.
- Sushirrito, 448 University Ave. Sushirrito rolls sushi fillings into burrito-size hand rolls, mixing Japanese ingredients with Latin flavors.
Chains and drive-thrus
Several national chains cover the hours the independents do not.
- Chipotle has two branches, at El Camino Real near Page Mill Road and at Stanford Shopping Center. The El Camino branch stays open to 11 p.m.
- Baja Fresh, 3990 El Camino Real. A fast-casual counter with outdoor seating and catering.
- Taco Bell, 910 East Charleston Road. The drive-thru runs until 1 a.m. most nights and 2 a.m. on Friday and Saturday.
- Celia's Mexican Restaurant, 3740 El Camino Real. A sit-down restaurant from a small Bay Area chain, with combination plates, fajitas and a kids' menu.
For other after-dark options, see our late-night food guide.
Announced: La Corneta
La Corneta Taqueria, a family-owned San Francisco taqueria that opened in Glen Park in 1995, applied for an alcohol license at 324 University Avenue. The Almanac listed it among expected 2026 openings. We could not confirm that the Palo Alto shop has opened, so check before you go.
Tips for ordering
- Ask for it grilled. Many taquerias will crisp the outside of a burrito on the plancha if you ask.
- Order tacos in threes. Street tacos are small. Three makes a light meal and lets you try different fillings.
- Use the salsa bar. Try the green tomatillo salsa first. Red salsas are often hotter.
- Order ahead for groups. Sancho's, Como Esta and LuLu's all take online orders. LuLu's and Sancho's cater.
- Check Sunday hours. Como Esta is closed on Sundays and Tacolicious lists hours Tuesday through Saturday only.
Matching the place to the plan
- Quick weekday lunch near downtown offices. Sancho's on Lytton Avenue or Curry Up Now on Hamilton Avenue.
- Tacos and drinks with friends. Tacolicious or San Agus downtown.
- Family dinner with kids. Celia's has a kids' menu. LuLu's is counter service with the center's parking lots outside.
- Picnic food. Burritos pack well. Pick some up in Midtown and walk to a park. Our picnic spots guide has ideas.
- After a late flight. Chipotle on El Camino or the Taco Bell drive-thru.
Good to know
- Most taquerias in Palo Alto close by 8 or 9 p.m.
- Midtown's taquerias share small parking lots. Street parking is easy nearby.
- Vegetarian tacos are on every menu here. Ask whether the beans are cooked with lard.
- For takeout, ask for salsa on the side so the tortillas stay firm on the way home.
Frequently asked questions
Where can I get a burrito in Palo Alto?
Sancho's Taqueria and Como Esta Taqueria on Middlefield Road in Midtown both make super burritos and breakfast burritos. LuLu's at Town & Country Village lets you pick from several tortillas. Chipotle has two Palo Alto branches on El Camino Real.
Where can I get fish tacos in Palo Alto?
Sancho's Taqueria describes its menu as Baja inspired and calls out fish tacos as a specialty. Tacolicious on Emerson Street serves a Baja fried fish taco and Como Esta lists fish and shrimp tacos.
Where can I get quesabirria in Palo Alto?
Sancho's Taqueria and Como Esta Taqueria both list quesabirria tacos. San Agus downtown serves quesabirria among its botanas and has papas birria on the menu too.
Is there a breakfast burrito in Palo Alto?
Yes. Sancho's, Como Esta and LuLu's all serve breakfast burritos. LuLu's opens at 9 a.m. at Town & Country Village and Como Esta opens at 10 a.m. Monday through Saturday.
Where can I get tacos late at night in Palo Alto?
Most taquerias close by 9 p.m. Chipotle on El Camino Real near Page Mill Road stays open to 11 p.m. The Taco Bell drive-thru on East Charleston Road runs until 1 a.m. most nights and 2 a.m. on Friday and Saturday.