Stopped by for carryout did not disappoint! Had the Sangria Roja, tinga taco and Chicharron taco. All were incredible and service was on point. Clean, nice ambiance, prices were very fair too. Please ignore my taco pic as I had to hurry and it was swinging! My personal favorite was the Chicharron taco and it was fried to perfection! It was crispy without losing flavor or juiciness. Just the right amount of spice too. The tinga taco also has as very tasty and the cheese was a bonus. The sangria was flavorful and refreshing; I personally prefer sangria Blanca but this was tasty and not heavy. Just a hint of cinnamon to liven it up. I will try a sit down meal with them and soon! I'm a mole connoisseur so I'll get back to you! read more

Milpa Tacos y Tortillas - Chicarron Taco and Tinga taco - Mexican Near Me - Cocoa, Florida

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Ive seen this place a few times driving and walking around Cocoa Village. We decided to finally give it a try for lunch and see what they were about. We started with agua frescas. Jamaica and fresca were delicious and genuinely fresh, a must with this kind of food. Though we were not here for a full dinner, we were told the queso fundido was a must try and it was! They sat a charded jalapeno dead center and mixing it all together took it to the next level. The tacos were underwhelming though. I had steak, chicken tinga and chicharron, the chicken tinga blew them away flavor wise. I did like the attention to detail and bite size of the chicharron. The tortilla itself was offputting texture wise. You couldn't fold it without ripping. We are willing to try again, we will see in the future! read more

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This place looked good, but ended up being just ok. The guacamole, chips, salsa and queso were really good. My enchiladas verdes were just ok. Cojita cheese isn't my favorite. My coke came to my table flat. I told the server about the soda being flat but she didn't seem to understand what I meant and she came back with another flat coke. I took that flat coke inside to the bar and they offered me a sprite. I said if your machine is out of CO2 then it isn't going to make a difference. She said they could just do a sprite so I accepted a flat sprite...lol. Do people not know what makes the fizz in their drinks? My fabric napkin was also damp, like it got washed and didn't dry all the way. When I asked for a new one, no one ever brought it so I stole one from another table. We ordered a dessert and it came out twice. My friend had an alcoholic drink which she said had too many flavors going on and tasted bad. Her next drink she liked. All the waitstaff seemed flustered. I bet this place could be good but it was not their night when my friends and I came. read more

Milpa Tacos y Tortillas - Chips and queso, guacamole - Mexican Near Me - Cocoa, Florida

April 2026 The food was so good - see photos Service - The staff was friendly & on point. Ambiance - Open, bright & clean. We will be coming back to this lovely place. read more

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Walked past several restaurants to get to this one because it looked good. Pretty trendy place and a little on the high side for pricing. The menu was somewhat limited. The place is warmly lit, the staff is well dressed and it feels high end. Everyone was courteous and professional. The margaritas were outstanding, tacos excellent and the salsa flight was perfect. The chips were some of the best restaurant chips I've ever had. Love love love this place. It's a great place for a first date. read more

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Decided to check out something new while in the area for work and very happy I did! The bar area is very cute with plenty of space. After reviewing the menu and talking to the bartender, I opted for a Hibiscus Margarita and Tuna Crudo Tostados. The margarita was not too sweet/not too sour and definitely packed a punch. I'd call it small but mighty and pretty tasty. The tostadas were the real star though. The ingredients were perfectly paired and tasted so fresh that every bite was a delight. Definitely worth stopping by. read more

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The food was good, loved the fish taco. The pork in the Al Pastor and Carnitas was pretty tough, but the flavors were there. Birria was nice and tender but it had been slow cooked forever and it really hit the spot.Nice that it had goat, oxtail and beef in it. Nice flavor bomb. I could put that deliciousness on some mashed potatoes! That and the guacamole were definitely the favorites. The flank steak also had tenderness and flavor issues. The salsa flight was great, but the two little cups( and now I see why that size) were hot as hades so keep that in mind. The other salsas were great and what normal people eat. Had a Paloma for the first time. I liked it. The spicy margarita was just that. Fine for me, but my wimpy son struggled between that and trying the hot salsa that I TOLD him not to eat. I thought we were going to have to get him some milk! Guava margarita was also had, but since I cannot even wrap my head around that one, I did not try it. Service was quite slow. All in all, probably more of a 3.5, however the really good dishes were just that. Speed up the service a tad. I don't like to spend more than 2 hrs. for dinner. Had fun with the group. read more

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I fear this place has vibes. Like fr. Walking into Milpa felt like Pinterest and abuela's house had a very clean, modern baby. Food? Solid. We got tacos. They were good-good, not life-altering, not "I just saw God," but definitely a respectable 4/5 situation. Like if someone said "let's go here," I would not fight it. I would in fact pull up. Margaritas were also in their era. One came out a little watered down but our waiter let us get it remade which was clutch. Actual redemption arc. Service... hmm. Not bad, not amazing, just kinda existing. Our server wasn't super warm but also didn't ruin the experience. Just vibes-neutral. Overall: come for the aesthetic, stay for a decent meal, leave satisfied but not spiritually transformed. There also was a cute cat outside if that means anything to you haha. Would I come back? If the squad is going, yes. Am I personally craving it at 2am? Not exactly. read more

The food at this establishment is above average definitely. With some improvements, they could actually knock it out of the park. My party tried the chicharrón, shrimp, fish, beef and pork tacos; also, the birria and their tres leches and flan desserts along with the Jamaica agua fresca. Ended the meal with a coffee. Agree with another reviewer that the tortillas are not the ideal texture, but the taco fillings were delicious. The birria is one of the best I have tried, even when compared to others I have tried in California, however on this day, the scent and taste of cinnamon in it was too strong. The desserts were delicious and perfect with the coffee. The tortilla soup was fabulous, although the portion was quite small for the price. The tacos are on the smaller side too. In conclusion: this is a definite safe bet for delicious, authentic Mexican food in kind of a food desert area. Shout out to Jeimy-our server. She elevated our dining experience with her friendly, prompt and professional service. read more

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! read more

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Nice authentic taco spot in cocoa village. Super quaint and cute side of town. Lots of parking in the back and easy area to adventure around. Ordered the Taco Tuesday special for all you can eat tacos at $19.95. The tortillas were homemade and some of the best I've ever had. They offer indoor and outdoor seating. The bar area is big and the bartender was extremely friendly and knowledgeable when it came to tequilas. Spotless bathrooms are my pet peeve and keep my business. If you're in town on a Tuesday, I recommend trying out their various tacos during AYCE. read more

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Excellent service; all staff is super nice and attentive. The food is delicious, we'll come back every time we visit Cocoa Village. read more

Milpa Tacos y Tortillas - Flautas Doradas - Mexican Near Me - Cocoa, Florida

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This was a very nice refreshing lunch. I loved the outside seating. Even though we were outside I didn't feel like we were forgotten. The service was on point. The guacamole was so fresh and delicious. I was nervous about the jalapeno and that it would be too spicy but it was not. I also really like that you can purchase tacos individually so you can really get what you like. Yes, it's a tapas style but I've been to ones where they give you big servings of the same, to share. The only thing I would have liked is ice in the water since we were outside. The sun made the water warm quickly. Aside from that, I'll be visiting again! read more

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Honestly, so fricken good! Marcos was our server and made us feel like guests in his home. This whole place, although modern and chic, had a feel as if you were at your friends house. Service was off the charts. All the tacos were incredible. My favorite was the shrimp but honestly you can't go wrong. Drinks were strong. Everything was perfectly priced! So glad we found this place and if you're ever in this area this is a must!! Thank you to the whole Milpas team for a fantastic dinner that kicked off our vacay read more

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Great atmosphere and great food! Definitely have the salsa flight (fresh tortilla chips)) and definitely try the cachete tacos (so tender!)

Milla is a cute spot in an awesome location in Cocoa Village. I have been twice now, and they definitely have an authentic menu with traditional style tacos. I enjoyed my flautas and the enchiladas verdes, but I don't think they're anything amazing. I did not like the tres leches at all, and I found it quite dry. The prices are a bit high for everything on the menu, particularly considering the portion sizes. Both times, I have not had great service, with drinks taking long, infrequent check ins, and issues with the bill being incorrect. Milpa is definitely a cute spot to check out, but I wouldn't go out of my way to dine here. read more

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Happy hour margaritas for $5 was very fair. Mole enchiladas were good, Pollo something was excellent. Chips and queso was very cheesy (authentic). Service started slow because of staff availability but was excellent. Nice setting, very peaceful on a Monday. Looking forward to trying their taco Tuesday:) read more

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A notable corn mural on the outside, ties the Mexican tradition of farming into the name Milpa perfectly. The interior dining has a soft white boho modern aesthetic and the patio gives a soft casual outdoor feel. There's an interior and exterior patio available which makes it flexible to get an outdoor feel regardless of weather. Now for food, I ordered the Arrechera taco and Carnitas taco with a small side of guacamole. Both tacos were delicious with their own unique flavors. Traditionally, I am a carnitas person but the arrechera taco surprisingly beat the carnitas with its savory sauce. The coconut mojito mocktail was absolutely delightful and flavorful with an great balance of mint and sweetness. The waitress I had was very personable and attentive in making sure the food was good and checking to see if I needed anything. The food came hot and quick. As a first time experience, I'd say this was a 10/10. I look forward to going back to try more things on their menu! read more

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We tried this place on our way to Cocoa Beach and came back because it was so good. The flautas were delicious, we liked the taco variety. All were different and delicious. The pickled red onion was a great addition. The bruleed flan was to die for. We wanted to try the tres leches but we were stuffed. Sad that we live far away. Service was also excellent! read more

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This restaurant is AMAZING. We fell into Milpa Tacos y Tortillas after a very long travel day on New Year's Eve. The name implied just your basic Mexican taco place. Instead we find Top Shelf Latin Cuisine. Dishes you won't find anywhere else. Our server suggested the shrimp dish (Chipotle Shrimp ) and a pork dish (Cochinita Pibil) for my husband. Both were a blend of flavors that awoke the palate. read more

Milpa Tacos y Tortillas - Mexican Near Me - Cocoa, Florida

Great time at the bar with Tania, she made us delicious and beautiful drinks. Food and atmosphere were both great. Will def be back for their specials and brunch read more

Milpa Tacos y Tortillas - Mexican Near Me - Cocoa, Florida

Omg!! This place is adorable!! The decor is very cute and the atmosphere feels really authentic. I ordered the rice bowl and it was super yummy! The tinga chicken was nice and yummy. The spice level was really good. I would definitely get this again. I added avocado & hot sauce to it and it was perfect. I glanced at the brunch menu and it had some really nice items that I would definitely order. read more

Milpa Tacos y Tortillas - Rice bowl - Mexican Near Me - Cocoa, Florida

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My son invited me to this place for lunch, drove from Orlando and met there! There was no one when we arrived., we ordered and it took at least an hour or more for our food to arrive! The lunch crowd arrived and left and we still waiting! The food was nothing special. Would NOT recommend! read more

This place is authentic! Started with Kraft cocktails, I had the "Paloma". Blend of prosecco, grapefruit juice, tequila & aperol; Delish. Salsas are aromatic & full of flavor. Our tacos were delicious. They offer ala carte or platters. Two of my favorites were the Al pastor & mahi served on a freshly made corn tortilla. The flan brûlée - 5 star The service was phenomenal! read more

Just back from a Sunday lunch and by recommendation went to Milpa in Cocoa. The guacamole was excellent and was real guacamole. Nicely done Milpa! The tostada shells on the side were a nice, delicious touch. Then came the tacos (street style). I ordered the Ensenada Tacos. Being a surfer from the west coast, I'm used to outstanding roadside fish tacos as a great post surf meal on the way home. Near impossible to find in Florida. These were legit with the flavor of real fish tacos Seriously delicious! My wife had a variety of tacos...all of which she raved about. My sister in law had a pork dish. She shared a bit and it was delicious as well. We will be going back soon. read more

We just discovered Milpas yesterday afternoon and decided to take a chance -- and we're so glad we did! From the moment we walked in, the atmosphere was welcoming and fun. Stasi, the bartender (a true mixologist!) was amazing, engaging, and clearly passionate about what he does. The food was absolutely delicious, and the service was spot on from start to finish. Hands down our new favorite place in Cocoa Village! read more

Great!! Food atmosphere, everything we had was great. Good service and a cute outdoor seating area.

This place prides himself on being authentic and true with good high-quality ingredients. Our waiter was extremely knowledgeable, polite, fast, and proud of what they serve. We started with the guacamole, which was absolutely delicious. We also got the virgin strawberry margarita, which was a very refreshing smoothie taste. I got the Barilla tacos, which were absolutely delicious, and my partner got three vegan meat tacos with the added sides of rice and beans, which came in two very small cups. Overall, the food was absolutely delicious, but you are going to need you to have your wallet ready to get even basic things here. To add on two very small portions of rice and black beans cost an extra eight dollars. Three tacos that were relatively small costed $15. Overall, to get a pretty tasty lunch, that was relatively small for two people, we walked out the door spending around $70. There was almost no one else there when we came. I didn't quite understand why because the ambience of the entire place was amazing. But I very quickly found out once we looked at the prices. It was jarring enough that the guacamole did not have a price, but instead just said market price. The food may be worth your time, but I don't think the prices match up with how much food you're getting, and unfortunately how good they want it to be. read more

We found this gem on our way to the beach. Best Mexican food I've had in a long while. Food is authentic and fresh. The dishes are savory, drinks strong, and the agua fresca do yourself a favor and try it. Add a taco on top of whatever dish you order, you won't regret it. Street corn was excellent, chipotle shrimp was savory and enough to share. Price points are fair considering the quality and presentations. Place is well decorated as well with indoor and outdoor seating. Pet friendly outdoor seating was a huge win for us and what prompted us to stop in. Staff was very nice and attentive. Looking forward to returning! read more

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Upscale taco restaurant! Great atmosphere! Have 3 tacos; Chicharron, Shrimp and pork. Excellent! The Guava Margarita was muy bueano! My Mexican go to! read more

Food was great service was awesome ambiance was exhilarating. The only downfall was it wasn't free.. ( for those of you who lack a sense of humor that was a joke) read more

Had Sunday brunch for a friend with a party of 22. Staff did not disappoint. Drinks apps and entrees. Mimosas guava, coconut and Hibiscus yummy. Burris Plate was to die for, so rich and deletable. I would rate at a 4.90 as a grade. Only down fall as a tad pricey. read more

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I liked that I was able to try different types of tacos, my favorite were the carnitas taco. The server was very helpful in recommend which tacos to try as well. The inside of the restaurant felt small but patio looked like it would be nice when the weather cools down. read more

Very nice interior with a menu that is traditional real Mexican food and inviting ambience. The service was exceptional. When we ordered initial chips and salsa we were served fresh guacamole and five individual Bowls of salsa, each with a unique flavor. Nice touch and different than most read more

Milpa Tacos y Tortillas - Bar and a table - Mexican Near Me - Cocoa, Florida

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Just got lunch here with my family, We had a very kind server who explained the aspect of the restaurant and how all their food is made from scratch. I usually don't like heat by sitting outside but their closed off patio was very breathable and the perfect temperature due to the fans, it still did keep the nice outdoor atmosphere though. The food was excellent and was prepared and cooked by people who definitely enjoyed their craft and had knowledge on real Mexican cuisine. If I had to rate this out of 10, I would give it a 20. If you're in the area please try this place if you're craving great real Mexican food. read more

This place is really good. Very authentic Mexican food. We don't live in the area but we will be back. The margaritas are delicious! When you go to Mexico they don't use any crap margarita mixers. Just limes! This is exactly how they do it. read more

I had high hopes for Milpa but boy was I wrong!! The food was actually decent but the service was horrible. The waitress was pretty rude and the food took forever and EVERRRR! They blamed it on taco Tuesday but this place was empty with very little guests. They think they pulled a fast one on us but it was me who pulled a faster one -- I ate from my husband's all you can eat taco platter which was only for 1 person. So suck on that ... read more

Can I just say, WOW! absolutely amazing experience, highly recommend without reservation! Our server Jamie was so attentive, knowledgeable and made our experience top notch! The staff demonstrated true essence of teamwork. Helping all tables regardless of the assignment. We visited during taco Tuesday, although busy environment we were treated as if we were the only ones in the establishment. The food is full of flavor, very authentic Mexican food! We met one of the cooks, she is so sweet pouring her heart in her work, you can taste the dedication. The manager is supportive of her team. I love the ambience and the craft cocktails are upscale. We will return for the abuelitas cooking and the amazing staff! Well done Milpa kudos! read more

This place is an amazing find in downtown cocoa. The authentic tortillas and Mexican food is delicious. They have house made vegan meat in their tacos and it is delicious. I also tried their mushroom tacos and rice and beans. The kids had chicken nuggets and fries and my sister enjoyed four different not vegan tacos some with fish, chicken and even skirt steak. She enjoyed them all and said the fish was one of her favorites. read more

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Jake was welcoming, friendly, & knowledgeable. Mezcal flight was nice & different. I had to try it. Tacos were tasty & flavorful. Mahi was cooked nicely. Service was timely. Bar area was a bit cramped. There's seating outside as well. Taco Tuesday all you can eat tacos (specific ones) $18. Drinks are a bit pricey. Overall enjoyable experience, definitely recommended. I'll be returning for more tacos. read more

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