20 Best Restaurants in Waukesha, WI

This article was written by local contributor Celeste Jackson & edited by the Travel Lens team.

Best Restaurants in Waukesha, WI

Waukesha, Wisconsin, is a charming city full of history, culture, and of course, some incredible dining options.

As someone who's lived here for quite some time, I've had the pleasure of experiencing a variety of restaurants in the area.

From fine dining to cozy cafes, there's something for everyone to enjoy.

In this article, I'll be sharing the best restaurants in Waukesha, Wisconsin, so you, too, can experience the delectable delights this city has to offer!

Restaurante Casa Noble

I recently took my family to Restaurante Casa Noble for dinner, and we had a lovely time.

The atmosphere was casual and welcoming, with a neighborhood vibe that made us feel right at home.

We started off with their classic margaritas, which were delicious and generously sized.

For our main courses, I had the tacos, which were tasty, and my family enjoyed their dishes as well.

I must admit, I wasn't a huge fan of the salsa, but the rest of my family seemed to enjoy it.

The homemade corn tortillas, however, were a game changer - warm, soft, and incredibly fresh.

Restaurante Casa Noble · 421 S Grand Ave, Waukesha, WI 53186, Verenigde Staten
★★★★★ · Restaurant

Tofte's Table

As someone who lives nearby, I can honestly say that Tofte's Table has become one of my go-to spots for a delicious meal.

The tapas-style dining experience allows you to try out a variety of dishes, and the food never disappoints!

Some of my personal favorites are the Duck Confit Tostada, Fried Chicken, and Sticky Toffee Pudding for dessert.

What sets Tofte's Table apart is not just their delicious food but also their amazing service.

Tofte’s Table · 331 Riverfront St, Waukesha, WI 53189, Verenigde Staten
★★★★★ · Amerikaans restaurant

Fuzzy's Sports Pub & Grill

I recently visited Fuzzy's Sports Pub & Grill with my friends.

We initially went there just for drinks, and the beer on tap was quite refreshing.

What caught our eye, though, was the mouth-watering breakfast being served to fellow patrons.

One look at it, and we knew we had to order some for ourselves.

No regrets there - the food was simply amazing!

Fuzzy’s Sports Pub & Grill · 627 E Main St, Waukesha, WI 53186, Verenigde Staten
★★★★★ · Bar & Grill

Dave's Family Restaurant

I recently had the pleasure of dining at Dave's Family Restaurant for breakfast, and I cannot express enough how delightful my experience was.

From the moment I stepped in, I was greeted with a warm and friendly atmosphere reminiscent of a classic quick-serve breakfast joint.

The restaurant may be on the smaller side, but it only adds to the cozy Sunday morning charm.

I loved that the kitchen was right behind the counter, as it gave me the opportunity to watch the magic unfold.

I also appreciated the large creamer cup that was provided for my coffee - a minor detail, but one that shows the attention to detail at Dave's.

I ordered the Homemade Corned Beef Hash and was blown away by the flavor.

The corned beef was delicious and didn't have any odd coloring that can sometimes be found on deli cuts.

The addition of onion and green peppers only elevated the dish further.

Dave’s Family Restaurant · 316 W Broadway, Waukesha, WI 53186, Verenigde Staten
★★★★★ · Restaurant

Arepanita's Cafe

I finally decided to give Arepanita's Cafe a try last Sunday.

From the moment I stepped in, I was welcomed by the vibrant colors and quirky decor that filled the cozy space.

It felt like I had been transported straight to Venezuela.

I was even more impressed when I tasted their arepas - they were incredibly fresh and delicious!

What stood out to me was the friendly and attentive service that made my visit feel more like an intimate gathering with friends rather than just another meal at a restaurant.

Aside from the mouthwatering arepas, Arepanita's Cafe also offers a variety of imported beers to complement the dishes.

I spent my afternoon enjoying tasty Venezuelan eats, sipping on a cold beer, and engaging in delightful conversations with fellow patrons on the small porch.

Arepanita’s Cafe · 136 E Saint Paul Ave, Waukesha, WI 53188, Verenigde Staten
★★★★★ · Venezolaans restaurant

The Coop

The Coop is a modern and bustling breakfast spot known for its creative takes on traditional dishes.

I was immediately impressed by the friendly atmosphere and the enticing aroma that greeted me as I stepped inside.

Despite the restaurant being quite crowded, the wait for a table was minimal, and the service was outstanding.

After placing my order, I was pleasantly surprised at how quickly the food was served.

I must say, the food exceeded my expectations.

I ordered the banana bread French toast and found it to be a delightful change from the usual breakfast fare.

The texture was a bit mushy, but it didn't take away from the overall quality of the dish.

My companion opted for an omelet with pancakes and country potatoes, and we both agreed that the portions were generous and well worth the price.

The Coop · 350 Delafield St, Waukesha, WI 53188, United States
★★★★★ · Breakfast restaurant

Mainstream Bar and Grill

My friends and I decided to spend an evening at Mainstream Bar and Grill.

As usual, the atmosphere was lively, with sports playing on the screens, and a few patrons were even enjoying the outdoor seating.

We ordered a variety of dishes, but one thing we all agreed on was getting their famous Kaufhold cheese curds.

The customizable burgers here never fail to impress, and my personal favorite is the one topped with blackberry jam.

It's a unique twist that I highly recommend trying!

My friends opted for a Boss burger, and they wisely ordered it medium well-done, as the meat can sometimes be a bit overcooked.

Mainstream Bar and Grill · 404 W Main St, Waukesha, WI 53186, United States
★★★★★ · Bar & grill

Sobelman's of Waukesha

I've been living in the area for a few years now, and I've always been a fan of Sobelman's of Waukesha.

This bar and grill has a chill, rustic-chic atmosphere that's perfect for hanging out with friends and family.

The food is absolutely delicious, and their inventive burgers and bloody marys are always a hit.

Just the other day, I stopped by for lunch with some friends.

I ordered the burger of the month, which was fantastic, while my friends tried the Wisco burger and chicken sandwich, both of which earned rave reviews.

We couldn't resist ordering a side of cheese curds, and they were so good that they were gone before we could even think about taking a picture!

Sobelman’s of Waukesha · 332 Williams St, Waukesha, WI 53186, Verenigde Staten
★★★★★ · Bar & Grill

Tally's Tap & Eatery

One chilly Friday night, I decided to visit Tally's Tap & Eatery with my family for a fish fry.

To my surprise, despite the cold weather, the place was warm and cozy inside.

We didn't have any difficulty getting a table, thanks to the spacious interior.

As I skimmed through the menu, I was amazed by the variety of choices available.

It was hard to make a decision, as everything sounded so enticing.

Eventually, we all settled for the fish fry, and I must say, the portions were generous.

The food served at other tables also looked delicious, making me eager to come back and try more options.

Tally’s Tap & Eatery · S31W24661 W Sunset Dr, Waukesha, WI 53189, Verenigde Staten
★★★★★ · Restaurant

Other Restaurants Nearby

Palmer's Steakhouse (Hartland)

I cannot even count how many times I've been to Palmer's Steakhouse over the years.

The atmosphere is always warm and inviting, and the food never disappoints.

Whether it's for a special occasion or just a date night with my significant other, it's always our go-to spot.

One of my favorite things about Palmer's is the variety of dishes they offer.

Of course, their steaks are absolutely delicious, but they also have an amazing seafood selection.

I've tried their filet mignon and ribeye steaks, both cooked to perfection.

Palmer’s Steakhouse · 122 E Capitol Dr, Hartland, WI 53029, Verenigde Staten
★★★★★ · Steakhouse

Union House (Genesee Depot)

I always love dining at Union House whenever I have a special occasion or just want to treat myself.

The French onion soup is one of my favorites, and their chocolate martini and bourbon old-fashioned are simply amazing.

I've tried several dishes on their menu, like ravioli, asparagus, mushrooms, and elk (limited time), and they're all fantastic.

Union House · S42 W31320 WI-83, Genesee Depot, WI 53127, United States
★★★★★ · Fine dining restaurant

The Melting Pot of Brookfield (Brookfield)

Dining at The Melting Pot of Brookfield was truly an unforgettable experience.

My partner and I were looking for something different for our date night, and this fondue restaurant turned out to be the perfect choice.

Upon arrival, we were warmly greeted and seated at a cozy booth with a heated pot on the table.

We started with the Fiesta cheese fondue, which was absolutely delicious.

We dipped various bread, vegetables, and even apples into the gooey goodness.

Next, we were served salads, which were fresh and tasty.

But the main event was the meat course – we chose to cook our meats in the Mojo sauce, and every bite was delectable.

My personal favorite was dipping the cooked meat into more cheese!

Finally, we had the chocolate fondue for dessert.

We opted for the turtle option, which included chocolate, caramel, and pecans.

Dipping strawberries, bananas, and rice crispy treats into the heavenly mixture was nothing short of divine.

The Melting Pot of Brookfield · 19850 W Bluemound Rd, Brookfield, WI 53045, United States
★★★★★ · Fondue restaurant

ParkSide 23 (Brookfield)

One of the best dining experiences I've had in the neighborhood has to be at ParkSide 23.

Not only is the atmosphere warm and inviting, but the farm-to-table New American dishes always seem to hit the spot.

I've tried a variety of menu items, but my go-to has to be Farmer Johnny's Pasta.

The fresh vegetables combined with the option to add Butter Baked Chicken as a protein make it a perfect comfort meal.

During the summer months, I love to take advantage of ParkSide 23's outdoor patio and enjoy my meal surrounded by its beautiful garden.

It's a lovely touch that they grow their own vegetables on-site, and it shows in the quality and taste of their dishes.

The artichoke starter and baked beets are also worth trying if you're a fan of vegetable-forward dishes.

On top of the great food, ParkSide 23 also offers a fantastic selection of craft beers and cocktails.

ParkSide 23 · 2300 Pilgrim Square Dr, Brookfield, WI 53005, United States
★★★★★ · American restaurant

Cafe Manna (Brookfield)

Let me tell you about my recent visit to Cafe Manna, a vegetarian restaurant located in my city.

As a person who loves trying out new places to eat, I was excited to check this place out.

The cafe offers a variety of vegetarian eats, organic wine, and local beer - all in an eco-friendly venue.

During my visit, I was absolutely blown away by the food and the atmosphere.

The dessert selection was amazing, and I loved that they change their menu seasonally.

I was particularly impressed with their special holiday menu, which I intend on ordering from in the future.

The service at Cafe Manna was exceptional, especially from the hostess Tracy, who made our dining experience even more enjoyable with her warm and friendly demeanor.

As for the food, I tried the mushroom artichoke Rockefeller, truffle mac n cheese, and the Manna Thanksgiving Plate - all of which were simply delicious.

The ambiance of the restaurant was very relaxing and peaceful, and I couldn't help but notice the attention to detail in their eco-friendly practices.

To top it all off, I had their hot apple cider, which was the best I've ever had.

Cafe Manna · 3815 N Brookfield Rd, Brookfield, WI 53045, United States
★★★★★ · Vegetarian restaurant

Cooper's Hawk Winery & Restaurant (Brookfield)

Last weekend, my friends and I decided to enjoy a night out at Cooper's Hawk Winery & Restaurant in Brookfield.

I've been to this place a few times before, and every time, it has been an absolute delight.

The moment we walked in, we were welcomed by a warm and friendly ambiance.

We started with some wine tasting, and I must say, their house-label wines are some of the best I've ever tasted.

We were seated by a window, and although the lighting was a bit dim during dinner hours, it added to the cozy and intimate atmosphere.

I particularly loved their unique and delicious appetizers, such as the pretzel bread.

The New American fare was simply exquisite, with a wide variety of entrees to choose from.

One of the highlights of the evening was when we indulged in their mouth-watering desserts.

Cooper’s Hawk Winery & Restaurant- Brookfield · 15 S Moorland Rd, Brookfield, WI 53005, Verenigde Staten
★★★★★ · Amerikaans restaurant

Belfrē Kitchen (Delafield)

I recently decided to celebrate my mom's birthday by taking her out for brunch, and I chose Belfrē Kitchen as our destination.

I'm so glad I did!

We had a reservation and were seated immediately upon arrival.

The airy, modern atmosphere was perfect for a Sunday brunch, and the service was top-notch.

I enjoyed the French toast, which was incredibly tasty, and my mom loved her avocado chicken salad.

While we were dining, I noticed that they also offered outdoor seating, which is perfect for those who want to bring their pets along.

I've heard from friends that they're very accommodating to dogs on their patios.

Another time, after a long walk on the Ice Age Trail, I stopped by Belfrē Kitchen for a meal.

I had a delightful Poke bowl while my partner enjoyed a salmon dish.

Both were delicious and generously portioned.

Belfrē Kitchen · 606 N Genesee St, Delafield, WI 53018, Verenigde Staten
★★★★★ · Restaurant

Revere's Wells Street Tavern (Delafield)

I absolutely love spending my evenings at Revere's Wells Street Tavern.

The atmosphere is always so welcoming and lively, making it the perfect spot to hang out with friends and family.

One of my favorite things about this neighborhood gem is its mouth-watering cheese curds – they're the best I've ever had!

The outdoor seating area at Revere's is perfect for enjoying a lovely summer night while savoring some delicious pub grub.

I can't even count how many times I've been here, but each visit has always been memorable.

The service is consistently excellent, and I must give a shoutout to Krissy, who always ensures that my dining experience is top-notch.

I've tried so many dishes on their menu, and I'm never disappointed – their cod sandwich and clam chowder are just two examples of the fantastic offerings.

Revere’s Wells Street Tavern · 505 Wells St, Delafield, WI 53018, Verenigde Staten
★★★★★ · Amerikaans restaurant

Final Thoughts

Waukesha truly offers a diverse and exciting culinary scene.

Whether you're craving a hearty breakfast, a casual lunch, or an elegant dinner, there's always a perfect spot to satisfy your taste buds in Waukesha.

No matter what your food preferences or dietary needs may be, you're sure to find a delicious and satisfying meal in this vibrant Wisconsin town.

Spotted a mistake, have some feedback, or just want to chat with our editorial team? Click here to get in touch.
Find out more about Travel Lens and read our editorial guidelines here.