Finding great tacos in Rapid City, SD feels a bit like joining a local treasure hunt. You might think, “It’s South Dakota. Tacos?” Turns out, the hunt is worth it. The city’s taco scene stretches from a bustling downtown filled with personality to laid-back neighborhood spots. Every stop offers a unique take, and if you’ve ever tried chasing down elusive flavors, you’ll know that a well-built taco is worth more than its weight in brisket.
Taco options run the gamut here—from smoky traditional carne asada to modern twists with pickled veggies and bold sauces. Over many taste tests and spirited debates, I’ve found the local taquerias, brewpubs, and family joints that take tacos seriously. If you’re ready to move past the drive-thru and hunt for those tortillas that steal the show, stick around. What follows isn’t just a list—it’s the map for your next best lunch.
1. Que Pasa Mexican Cantina
Que Pasa Mexican Cantina gives downtown Rapid City a buzz with its vibrant energy and scent of fresh tortillas. Walking in, you’ll spot the open kitchen where tortillas come hot off the press—proof that freshness matters here. It’s a lively place, ideal if you crave food that’s both bold and thoughtfully put together.
The Birria Tacos at Que Pasa are legendary—slow-cooked, packed with savory intensity, and dipped in rich consommé that hints at hours of labor. The Grilled Shrimp Tacos come with just enough spice to keep things interesting without overpowering the delicate shrimp.
If you prefer plant-based, Que Pasa always has inventive vegetarian options. And with their focus on accommodating allergies, there’s something for everyone. One taste, and you’ll see why locals and visitors alike keep Que Pasa at the top of their taco lists.
2. Eddie’s Taco’s RC
Eddie’s Taco’s RC is proof that big flavors can come from the back of a trailer. Located wherever the best events are, Eddie’s food truck draws crowds thanks to authentic flair honed from decades in East Los Angeles. The buzz is real—the scent of homemade tortillas and salsas pulls people in from blocks away.
Tacos here lean into authenticity, packing grilled meats, fresh cilantro, and the sort of salsas that have won awards back in California. Each bite delivers layers of flavor you won’t often find outside a Mexican family kitchen. It feels like being let in on a local secret.
Try the Carne Asada Tacos—the beef is marinated until it sings, perfectly complemented by Eddie’s signature salsa. Vegetarian and gluten-free diners can order with confidence since their menu always features fresh, scratch-made options.
3. Millstone Family Restaurant
Millstone Family Restaurant is a Rapid City standby where comfort food meets neighborhood warmth. It’s the kind of place you visit after a long drive or when you need a break from trend-chasing meals. The booths fill with regulars who know what’s good, and the staff treats you like family.
Their taco special stands out—classic, hearty, and finished with all the fresh fixings. There’s no culinary trickery here, just solid ground beef tacos packed with flavor, crisp lettuce, and mild cheese on a soft shell. It’s honest, satisfying, and exactly what you crave when the mood for simple hits.
If you’re keeping it plant-based, vegetarian options are on deck and handled with care. Millstone proves that sometimes the best taco is the one that tastes just like home.
4. El Sombrero Mexican Restaurant
El Sombrero Mexican Restaurant is the kind of quiet gem you remember long after your meal. If you like your tacos with a side of genuine hospitality, this spot delivers. The atmosphere is warm and never rushed—perfect for lingering over lunch or tucking into a relaxed dinner.
Their tacos have an unpretentious charm—fresh tortillas, well-seasoned chicken or beef, and toppings that don’t overwhelm but add just the right balance. I once lost track of time sharing laughter and a plate of their chicken tacos, which come with a mild, house-made salsa that nails the combination of tang and spice.
Vegetarian options keep the menu approachable, making everyone at the table happy. El Sombrero is the place to unwind and savor tacos that taste like they were made just for you.
5. Thirsty’s
Thirsty’s feels like downtown Rapid City’s unofficial clubhouse—a spot where you can drop in for lunch, linger over dinner, or wind down late into the night. The place buzzes with friendly energy, and there always seems to be a local at the bar sharing the latest scoop.
The tacos here are loaded and generously sized, with grilled chicken as the star. They’re served with just enough spice to hold your attention and plenty of crisp vegetables for texture. The tortillas come out warm, wrapping everything together in a package that’s both satisfying and easy to eat.
Thirsty’s keeps vegetarians happy, too, with creative non-meat fillings that don’t feel like an afterthought. If you’re after a lively scene paired with tacos that hit the spot, this is it.
6. Minervas Restaurant & Bar
Minervas Restaurant & Bar brings an unexpected twist to the Rapid City taco landscape. The ambiance here is more polished than laid-back, making it ideal when you want a meal that feels like an occasion. Service is attentive, creating a dining experience where you can actually settle in and relax.
Their fish tacos stand out—crispy, flaky fish crowned with zesty slaw and a light cream sauce that ties everything together. Each element strikes a careful balance, and you taste the quality in every bite. The kitchen isn’t afraid to get creative, giving familiar flavors a sophisticated upgrade that suits the setting.
Minervas covers all the bases for dietary preferences, with plenty of vegetarian and gluten-free options. If you’re looking for tacos that match a more upscale mood, put this spot on your shortlist.
7. Juniper at Vertex Sky Bar
+1 605-342-1210
See Menu
Juniper at Vertex Sky Bar is more than just a place to eat—it’s a panoramic experience. The views from the top of Hotel Alex Johnson stretch across the city and the Black Hills. If you want an evening with atmosphere and a menu that aims high, this is the place to be.
Tacos here feel anything but ordinary, with selections like grilled fish or roasted veggies wrapped in warm, pillowy tortillas. Each taco is dressed with house-made slaws and sauces that show real culinary thought. The flavors reflect the chef’s attention to detail, and the presentation always seems tailored for the perfect rooftop dinner.
Juniper stands out for transforming casual classics into something special. It’s the ideal setting for those times you want to pair the city’s best views with the city’s most imaginative tacos.
8. Ma Cualli
Ma Cualli captures the spirit of honest, home-style Mexican cooking in a neighborhood setting. The restaurant has a calm, welcoming atmosphere that’s perfect for unwinding with friends or family. There’s no rush here, just a sense that the food is lovingly prepared and thoughtfully served.
The star here is the street taco—small, unfussy, filled with perfectly seasoned chicken or beef, and topped with just the essentials. The tortillas have a gentle chew and are always warmed right before serving, adding to the comfort factor. Each taco lets the flavors of traditional spices shine.
Ma Cualli’s straightforward approach means you get authentic flavor with every bite. If you want tacos that let the basics speak for themselves, this is a rewarding stop in Rapid City.
9. Firehouse Brewing Co.
Firehouse Brewing Co. brings a bit of Rapid City history to every meal, thanks to its setting inside the city’s original firehouse. The combination of exposed brick and local memorabilia makes every visit feel like a taste of the town’s past and present. It’s a lively spot, perfect for unwinding with good food and company.
The highlight for taco lovers is their Grilled Fish Tacos—crisp, flaky fish tucked into warm tortillas with a fresh house slaw and a subtle, creamy sauce. The dish pairs surprisingly well with their house-brewed beers and is a popular order for both locals and newcomers.
Vegetarians haven’t been overlooked, with creative meat-free alternatives that hold their own. Firehouse Brewing Co. is your go-to for great tacos in a setting with character and a bit of local lore.
10. Taco Bell
Taco Bell on Mt Rushmore Road needs little introduction—it’s where you go for quick, familiar tacos any time of day. If you’ve ever found yourself craving a late-night taco run, you’ll know the comfort in pulling up to this spot and seeing that neon sign glowing.
The Crunchy Taco remains a go-to for its tried-and-true combination of crisp shell, seasoned beef, and fresh lettuce. If you’re looking for something with a twist, the Cheesy Gordita Crunch packs a punch with its layered textures. Taco Bell makes ordering easy, either in person or through the mobile app for added convenience.
Vegetarian options like the Black Bean Crunchwrap keep it inclusive. Taco Bell is fuss-free, reliable, and always ready when you need that taco fix fast.
Frequently Asked Questions
What are the best places for tacos in Rapid City, SD?
Some top spots include Que Pasa Mexican Cantina, Eddie’s Taco’s RC, El Sombrero Mexican Restaurant, and Firehouse Brewing Co. Each offers its own spin, from traditional street tacos to modern creations.
Are there vegetarian or vegan taco options in Rapid City?
Yes, many restaurants like Que Pasa, Minervas, and Taco Bell serve vegetarian and vegan tacos. Most can adjust fillings to match dietary needs, just ask your server when ordering.
Can I find gluten-free tacos in Rapid City?
Several places such as Que Pasa, Minervas, and El Sombrero offer gluten-free taco options. Corn tortillas are usually the safe bet, but always double check with staff for peace of mind.
Where can I get tacos late at night in Rapid City?
Late-night taco seekers should check out Thirsty’s, Que Pasa, and Taco Bell. These spots keep the lights on for those post-event cravings or spontaneous taco runs.
Do any Rapid City taco spots have outdoor seating?
Yes, Firehouse Brewing Co. and Juniper at Vertex Sky Bar both provide outdoor seating, perfect for enjoying tacos with a view or a warm breeze.
