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✔️Brunch ✔️Lunch ✔️Dinner ✔️Dine in ✔️Take out ✔️Delivery
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Hours
| Friday | 11 AM–10 PM |
| Saturday | 11 AM–10 PM |
| Sunday | 11 AM–7 PM |
| Monday | 4–9 PM |
| Tuesday | 12–9 PM |
| Wednesday | 12–9 PM |
| Thursday | 12–9 PM |
Address and Contact Information
Address: 207 Brevard Ave, Cocoa, FL 32922
Phone: (321) 631-1133
Website: http://milpataco.com/
Menu Photos
Photo Gallery
Related Web Results
Milpa Tacos y Tortillas in Cocoa Village, Florida
We specialize in making our own tortillas and a variety of salsas from scratch no one else has. At Milpa there is an attention to details that take each dish …
Milpa Tacos | Cocoa FL – Facebook
… says ‘milpa y tortillas Tacos Cocoa-Brevard · Hector Escobar · . 1 · · Milpa Tacos is in Brevard County, Florida. Feb 18 . . Se busca lavaplatos en Cocoa.
Milpa Tacos y Tortillas Restaurant – Cocoa, FL | OpenTable
Book now at Milpa Tacos y Tortillas in Cocoa, FL. Explore menu, see photos and read 112 reviews: “We’ve been here multiple times and having always had great …
Reviews
Natalia Kapsalis
We went to Milpa for an early Valentine’s Day dinner, party of three, without a reservation—and from the moment we walked in to the moment we left, the service was exceptional. Every single person we interacted with was friendly, smiling, and genuinely seemed happy to be there. That kind of energy makes such a difference.
The food was absolutely delicious. We started with the guacamole, which was incredibly fresh and honestly one of the best I’ve ever had. For tacos, our favorites were the El Pastor and the El Cachete—both packed with flavor and perfectly prepared. As you can see from one of the photos, we had already started eating before we realized we needed to leave a review. That’s always a good sign.
We had looked at the dessert menu early on and already knew we wouldn’t be able to resist. We ended up sharing three: the Oaxaca chocolate brownie with cajeta, the flan, and the tres leches. All were excellent, but the brownie was definitely my top choice.
Overall, it was an excellent experience, and we’ll absolutely be back.
… moreThe food was absolutely delicious. We started with the guacamole, which was incredibly fresh and honestly one of the best I’ve ever had. For tacos, our favorites were the El Pastor and the El Cachete—both packed with flavor and perfectly prepared. As you can see from one of the photos, we had already started eating before we realized we needed to leave a review. That’s always a good sign.
We had looked at the dessert menu early on and already knew we wouldn’t be able to resist. We ended up sharing three: the Oaxaca chocolate brownie with cajeta, the flan, and the tres leches. All were excellent, but the brownie was definitely my top choice.
Overall, it was an excellent experience, and we’ll absolutely be back.
Aswathy Cinu
We went to Milpa to try out their AYCE taco Tuesday for $20. They have a craft bar and I ended up trying 3 different drinks. They all had very distinct ingredients and palates. The first drink I had Milperita was BOMB! Convinced me to order more . Definitely coming back for their $5 marg Monday’s. For tacos, pretty much tried everything. My favorites were the Al Pastor, Ensenada (batter mahi) and Chicken Tinga in that order. They also tacos with wild mushroom, Arrachera (skirt steak) and carnitas. The AYCE tacos came with a side of rice and beans, beans were really flavorful! You can order 3-4 at a time and our sweet server told us they do not cap you lol. My goal was to eat 10 tacos and I managed 7. I blame the Chori-queso fundido we got as an app for filling me up. Amazing vibes and food, can’t wait to be back!
… moreJessica Wesling
Inviting atmosphere, delicious food, and great service!
My friend and I chose to sit on the patio. We ordered the salsa flight to start and that provided a delightful array of flavors. We split an entree and each got a taco (she ordered the shrimp and I ordered the mahi mahi). Everything was so yummy!
My friend lives in the area and was her first time there. Once our server, Andre, was aware she was local, they let her know about all the weekly specials which she really appreciated. Andre is absolutely superb!
10/10 recommend.
… moreMy friend and I chose to sit on the patio. We ordered the salsa flight to start and that provided a delightful array of flavors. We split an entree and each got a taco (she ordered the shrimp and I ordered the mahi mahi). Everything was so yummy!
My friend lives in the area and was her first time there. Once our server, Andre, was aware she was local, they let her know about all the weekly specials which she really appreciated. Andre is absolutely superb!
10/10 recommend.
Nate Swanson
¡Tacos muy delicioso! Got 4 tacos tonight — all very tasty! Shared a few drinks with family and finished off the night with an incredibly delicious slice of Tres Leches cake — soooooo good! All in all, a wonderful experience. Easily one of the best places for Mexican food in all of Brevard! Definitely coming back soon!
… moreLumabelis Rodriguez Caraballo
We love it! It’s the best Mexican restaurant ever. The tacos are delicious and the margaritas too. Everything tastes fresh and has a fantastic flavour. The service is spectacular and Andre is the best server, so lovely. The place is family-friendly and is very clean. Thanks for the amazing experience! Congratulations to the whole team.
… moreEcuawoman
Milpa Taco & Bar is a cozy and comfortable spot located in the heart of Cocoa Village. We chose to sit inside, which had a warm and relaxed vibe, though they also offer outdoor seating for those who prefer to dine al fresco.
We started off with the chorizo queso fundido — creamy, flavorful, and absolutely delicious. We also ordered the salsa flight, which came with four different types of salsas, each offering its own unique flavor and spice level — definitely a must-try if you love variety.
For our main course, we tried three different tacos: the chicharrón taco topped with pickled onions, a steak taco, and a beef cheek taco — that last one was new for me, and surprisingly tender and flavorful.
Overall, it was a great foodie experience — tasty dishes, cozy atmosphere, and friendly service. Highly recommend Milpa Taco & Bar if you’re in Cocoa Village and craving authentic, flavorful Mexican cuisine!
… moreWe started off with the chorizo queso fundido — creamy, flavorful, and absolutely delicious. We also ordered the salsa flight, which came with four different types of salsas, each offering its own unique flavor and spice level — definitely a must-try if you love variety.
For our main course, we tried three different tacos: the chicharrón taco topped with pickled onions, a steak taco, and a beef cheek taco — that last one was new for me, and surprisingly tender and flavorful.
Overall, it was a great foodie experience — tasty dishes, cozy atmosphere, and friendly service. Highly recommend Milpa Taco & Bar if you’re in Cocoa Village and craving authentic, flavorful Mexican cuisine!
J&K Rosario
Located in the ❤️Cocoa Village .. First taco spot that uses Real skirt steak and the tortillas were actually delicious . The Birria tacos were mouthwatering . Also tried the Al Pastor tacos and they were yummy as well. The Salsa flight was very good, different varieties. Must try this spot out . Highly recommended.. Clean environment and very friendly staff as well.
… moreCalla Gilbertson
We had an amazing experience and was the absolute best Mexican food we have ever had!!! Drinks and food were 11/10. Definitely visit here when you’re in the area. Friendly and knowledgeable employees and authentic food and drinks!
… moreJohn Gilchrist
The food was good, but the salsas, while very traditional were not really what we like. The tacos were flavorful and the atmosphere in Cocoa village really is nice and relaxed. There is a lot of competition in the area for great tacos, and Milpa’s is definitely a contender. If you are looking for chips and a red salsa I would suggest somewhere else.
… moreCinthia Kettering
From the moment we stepped through the door, Milpa Tacos y Tortillas made us feel like we were part of a warm, vibrant family celebrating Día de los Muertos. The ambience was a beautiful tapestry of color, culture, and togetherness that set the tone for a memorable night.
The menu felt like a love letter to Mexican street cuisine, with bright, layered flavors that honored tradition while offering its own playful twists.
Each bite showed care: crisp textures, balanced spice, and ingredients that sang with freshness.
The Cantaritos were highlight-worthy: refreshingly citrusy, perfectly balanced, and generously poured.
Served in rustic, traditional vessels, they added a tactile, festive feel to the experience.
If you’re looking for a place with authentic flavors, meaningful ambiance, and a welcoming vibe, Milpa Tacos y Tortillas should be at the top of your list. We left with full hearts and even fuller plates, already planning our next visit.
… moreThe menu felt like a love letter to Mexican street cuisine, with bright, layered flavors that honored tradition while offering its own playful twists.
Each bite showed care: crisp textures, balanced spice, and ingredients that sang with freshness.
The Cantaritos were highlight-worthy: refreshingly citrusy, perfectly balanced, and generously poured.
Served in rustic, traditional vessels, they added a tactile, festive feel to the experience.
If you’re looking for a place with authentic flavors, meaningful ambiance, and a welcoming vibe, Milpa Tacos y Tortillas should be at the top of your list. We left with full hearts and even fuller plates, already planning our next visit.