Waffle Taco Recipe

Ground beef tacos with a slightly crispy and slightly soft waffle shell are a whimsical take on a traditional taco. Waffle Taco Recipe can be made in minutes and one everyone will devour. Make these delicious waffle tacos for your next Taco Tuesday and include your favorite toppings.

waffle tacos on wooden cutting board with lime wedges

Comfort foods are where my family and I are finding comfort in those moments we need it most. Now that I’ve found myself stuck in the middle of having far too much time on my hands and “where did the day go,” I’m relying on recipes I have memorized and ones I can practically throw together. This is not limited to making up new food groups such as waffle tacos.

What is a Waffle Taco?

Just as the name suggests, a waffle taco is quite literally a taco with a waffle shell. Just about any version of the taco recipe will work on a waffle shell, however, the most basic Americanized ground beef version is my favorite.

Slightly toast both sides of the waffle in the oven or toaster and then gently shape it into a taco.

taco waffles on wooden cutting board with knife

Ingredients in Waffle Tacos

You can make this simple recipe however you like by including your own favorite taco ingredients and toppings. This recipe calls for the most basic ingredients and is listed below as well as some additional options.

  • Ground Beef
  • Taco Seasoning (homemade or store-bought)
  • Diced Onions (optional)
  • Pico de Gallo
  • Sour Cream
  • Taco Sauce

How to Make Waffle Tacos

This taco waffle recipe is the most basic ground beef version, however, you can change up the ingredients. These can be made with beans, vegetarian, or even shredded chicken,

You can also layer on any sauce you prefer such as taco sauce, guacamole, salsa, or even one of my personal favorites dairy-free lime crema.

  • Brown the Meat. Brown the meat and saute the onions. Drain out the fat.
  • Season. Add the taco seasoning.
  • Prepare Pico de Gallo. Chop and dice the tomatoes and onions. Mix with lime juice, oil, and salt.
  • Toast the Waffles. Lightly toast both sides of the waffles in the oven or a toaster.
  • Assemble. Layer the ground beef mixture, sour cream, pico de gallo, sour cream, chilies, and any other toppings you like.

Homemade Taco Seasoning Recipe

If you’re someone who likes to make your own seasonings then here is a quick and easy recipe for taco seasoning. Just combine these ingredients in a small bowl and use what you need for the recipe.

  • 2 tablespoons Chili Powder
  • 1 tablespoon Ground Cumin
  • 1 1/2 teaspoon Smoked Paprika
  • 2 teaspoons Garlic Powder
  • 1 teaspoon Onion Powder
  • 1 teaspoon Salt
  • 1/2 teaspoon Black Pepper
  • 1/2 teaspoon Dried Oregano

Pico de Gallo Recipe

Often you can find pico de gallo at the grocery store in the produce section, but this is one of those recipes best made fresh. It only takes a few minutes to chop up and mix the ingredients that add so much flavor.

  • 1 lb Roma Tomatoes
  • 1/2 Onion, diced
  • 1/4 cup Fresh Cilantro, chopped
  • 2 tablespoons Fresh Lime Juice
  • 1 tablespoon Olive Oil
  • 1/2 teaspoon Salt

Tips for Preparing the Best Taco Waffle Recipe

Can I use homemade waffles?

Yes. You can just as easily use homemade waffles as frozen waffles. A round-shaped waffle will work best for this recipe, but if you have a square waffle maker those will work too. Just lightly toast the waffles before assembling them into tacos to get a slightly crispy and sturdier shell.

Which waffles are best for making the shell?

Any brand of frozen waffle will work for this recipe, just make sure it is plain flavored. For this recipe, I used Eggo brand waffles and they tasted delicious. As long as the waffles have no added flavors, such as vanilla or cinnamon they will work. Some of my favorite brands are below:

  • Van’s
  • Nature’s Path
  • Eggo
  • 365 Organic Homestyle Waffles
  • Kodiak

How to Make the Perfect Waffle Taco Shape

Let the waffles thaw and carefully bend them over the edge of a rimmed baking sheet. Carefully place the baking sheet in an oven set to BROIL and toast until it begins to brown. Flip the shell over and set it in the middle of the baking sheet to toast the inside.

Can I use a whole grain or gluten-free waffle?

Yes. As long as there is no added flavor any type of frozen waffle will work.

Close up of waffle taco topped with chili pepper and pico de gallo.

Waffle Taco Recipe

Ground beef tacos with a slightly crispy and slightly soft waffle shell are a whimsical take on a traditional taco. This Waffle Taco Recipe can be made in minutes and one everyone will devour.
5 from 8 votes
Print Pin Rate
Course: Main Course
Cuisine: Mexican
Prep Time: 10 minutes
Cook Time: 7 minutes
Total Time: 17 minutes
Servings: 8 Tacos
Calories: 290kcal
Author: Aimee Mars


  • 1 lb Ground Beef
  • 1/4 cup Onion chopped
  • 1 ounce Package Taco Seasoning or 2 tablespoons homemade
  • 8 Frozen Waffles
  • 1 Chili Pepper seeded and sliced (optional)
  • 1/4 cup Sour Cream optional

Pico de Gallo

  • 3 Roma Tomatoes diced
  • 1/2 White Onion diced
  • 1/4 cup Cilantro chopped
  • 2 tablespoons Fresh Lime Juice
  • 1 tablespoon Olive Oil
  • 1/2 teaspoon Salt


  • Place the ground beef in a medium-sized skillet over medium-high heat and break apart with a wooden spatula as it browns. Continue to cook and break apart for about 5 minutes, or until the meat has completely browned. Drain and return to heat.
  • Add the diced onions to the skillet and cook for an additional 1 minute, then add the taco seasoning. Remove from heat and set aside.

Pico de Gallo

  • As the meat is cooking prepare the pico de gallo by placing the diced tomatoes, onions, cilantro, lime juice, olive oil, and salt into a medium bowl and stiring to mix evenly.

Taco Assembly

  • Allow the frozen waffles to come to room temperature or defrost. Set the oven to broil and place the waffles on a baking sheet. Let them brown and flip to the other side. This takes less than a minute so make sure to watch them as they can burn quickly.
  • Spoon some of the ground beef mixture on top of each of the waffles. Layer with sour cream and pico de gallo. Top with chili pepper if desired.


Serving: 1taco | Calories: 290kcal | Carbohydrates: 19g | Protein: 13g | Fat: 18g | Saturated Fat: 6g | Cholesterol: 53mg | Sodium: 683mg | Potassium: 284mg | Fiber: 2g | Sugar: 3g | Vitamin A: 1191IU | Vitamin C: 15mg | Calcium: 103mg | Iron: 4mg
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About The Author


I’m thrilled you’ve stopped by my space here and love to connect with new friends through food. I’ve always felt sharing meals brings people together, which is one of the many reasons I began this site.