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Grilled Steak Tacos

I’m loving these easy and delicious Grilled Steak Tacos! These marinated steak pieces are wrapped in a warm grilled flour tortilla, then topped with a tangy pico de gallo, queso fresco and fresh cilantro.

You can make the beef steaks on the outdoor grill or even on a grill pan, and enjoy this light and yummy dinner any time of the year!

Flour tortillas topped with grilled steaks, pico de gallo, cheese and cilantro

Grilled Steak Tacos with Pico de Gallo

One of my favorite things about these grilled steak tacos is that they are yummy, healthy, easy to make, can be easily customizable for picky eaters. They are always a hit!

You may think of grilled steak tacos as a meal for a spring and summer day, but we make this year round. Sometimes I make my steak tacos on the outdoor grill, but frankly, I make them just as much on my cast iron grill pan indoors.

It’s quick to make once you start cooking, but you do want to reserve time to marinate beef for a few hours so that the steak is truly flavorful on the inside. Those few hours of marinating are so worth it, I promise!

I love topping my grilled steak tacos with pico de gallo. The tangy flavors and freshness from the tomatoes, jalapeños and lime juice concoction contrast and pair well with the savory flavors and textures of the beef tacos.

In addition to pico, a few crumbles of queso fresco (a classic Mexican cheese) and some cilantro totally rounds out the flavor and textures of the grilled steak taco.

As for picky eaters, feel free to top your beef tacos with any of your other favorite toppings. If pico or queso fresco isn’t for you, bring in a different cheese, topping or sauce. This Grilled Steak Taco recipe is easily customizable and will tastes yummy regardless!


Here are the ingredients you will need for your grilled steak tacos:

Top down view of three Grilled Steak Tacos wrapped in tortillas
  • Flank steak – a reasonably priced cut steak that is cooked quickly (to avoid overcooking and getting tough). It takes only a few minutes to cook flank steaks. I like to get the ones that are already tenderized (they usually run a blade cross grain multiple times so you will see actual strips cross grain). Skirt steak is also another good piece of steak to use for this grilled steak taco recipe.
  • Flour tortilla – round and thin, it’s the staple bread item in Mexican cuisine. You can substitute with corn tortilla if you prefer.
  • Roma tomatoes – they are usually smaller so if you are using a large tomato, you may only need one tomato.
  • Lime juice – I prefer to freshly squeeze from fresh limes. Used in the pico de gallo and also as a marinade for flank steak.
  • Jalapeño – used in the pico de gallo, this is what brings on the spicy flavors! Omit if you do not want your grilled steak tacos spicy.
  • Red onions – you can use white or yellow onions if that’s what you have at hand, but I do think red onions work better for this.
  • Cilantro – used both in the pico and as a topping for grilled steak tacos.
  • Queso fresco – a popular cheese in Mexican cuisine. This is a mild, flaky and soft cheese that typically comes in a block. You can even make it yourself – check out the recipe here!
  • Orange juice
  • Fresh garlic – do not substitute with garlic powder – the flavors are just not the same!
  • White vinegar
  • Salt and black pepper

How to make steak tacos

Step 1: Marinade flank steak

You will want to do this at least 2 hours before you start cooking/making your grilled steak tacos. This will enable the steaks to be flavorful on the inside, and not just the outside.

To marinade the steaks, mix together the marinade ingredients and soak the whole piece of flank steak in it.

  • orange juice
  • lime juice
  • minced garlic
  • white vinegar
  • salt and black pepper
Marinating a large piece of flank steak

It doesn’t look too appetizing yet…but I promise you, it is GOOD.

Step 2: Make Pico de Gallo

I like to make the pico de gallo that goes on top of my grilled steak tacos right after I marinade the flank steak. It is not necessary to do this ahead of time, but I like to let my pico sit for a bit so that the flavors come together better.

To make pico de gallo, simply bring together tomatoes, jalapeños, red onions, lime juice, cilantro and a little bit of salt to open up all the flavors.

Pico de gallo in a mixing bowl

Sep 3: Grill steaks

Once steak has been marinated for at least 2 hours (a few hours longer is fine! In fact, it’ll probably be more flavorful), grill the whole piece of steak on a grill or grill pan indoor.

Grilling time will depend on how well done you like your steaks to be.

The best way to determine that is by using a meat thermometer, and poking the meat thermometer into the thickest part and also the center of the steak. Both areas should be at or above to your desired temperature.

  • Medium rare – ~140℉
  • Medium – ~150℉
  • Medium well – ~160℉
  • Well done – ~165℉

When steak is done, remove it from the grill immediately and let it rest on a plate wrapped in aluminum foil for 5-10 minutes.

Then slice it into small strips of steaks.

Steak sliced into thin strips on a cutting board
medium rare sliced flank steaks

Step 4: Assemble steak tacos

Finally, let’s assemble those delicious grilled steak tacos!

Grilling / warming tortillas

This is not necessary but if you want to, also throw those tortillas on the grill to warm it up. It should take no more than a few seconds on each side. Another way to warm your tortillas is to wrap them in a wet paper towel and microwave for a few seconds.

Once tortillas are warm and ready, place a few pieces of steak onto the middle of a tortilla, then top with pico de gallo, queso fresco and chopped cilantro. And there you have it – grilled steak tacos. It’s quick, easy and so delicious!

I typically serve all the mixings separately and let everyone assemble their own grilled steak tacos. This way everyone can customize it accordingly.

A plate of three grilled steak tacos with cheese and cilantro on the side.

More Steak Taco Topping Ideas

As I mentioned earlier, there are so many ways to customize and enjoy your grilled steak tacos. Here are more topping ideas that can be added in addition or in place of pico and cheese:

  • Other cheeses such as mozzarella, cheddar, Mexican blend, or homemade velveeta queso
  • Guacamole or avocado slices
  • If you like it spicy, jalapeño or your favorite hot sauce
  • Vegetables such as lettuce, onions, bell peppers or others
  • Your favorite salsa

Frequently Asked Questions

Can I use another cut of steak?

I recommend flank or strip steak for Grilled Steak Tacos but you can use leaner, better-quality meat such as strip or ribeye. I would avoid chuck roast or tougher cuts that are used for stews or soups that would require longer cooker time.

How do I grill or heat tortillas?

– place it on the racks of an outdoor grill, 20-40 seconds on each side.
– place it on open flame on a gas stovetop, also 20-40 seconds on each side. (This is the method I used for the grilled steak tacos in the photographs).
– wrapped in wet paper towel and microwave for 15-20 seconds.

Side view of grilled steak tacos topped with pico

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More Taco Recipes

Tacos are some of our favorite food group around here! Check out our other favorites!

Grilled steak tacos wrapped in frilled tortillas topped with tomatoes, cheese and cilantro

Grilled Steak Tacos

Marinated grilled steaks wrapped in a warm flour tortilla, topped with pico de gallo, queso fresco and cilantro. A easy steak taco recipe that can be made on an outdoor grill or grill pan on the stovetop.
5 from 4 votes
Print Pin
Course: Main Course
Cuisine: American, Mexican
Prep Time: 10 minutes
Cook Time: 10 minutes
Marinade time: 2 hours
Total Time: 2 hours 20 minutes
Servings: 3 servings
Calories: 552kcal
Author: MinShien


Steak marinade

  • 1 lbs flank steak or skirt steak
  • 1/4 cup lime juice
  • 1/4 cup orange juice
  • 1 tbsp white vinegar
  • 4 cloves garlic minced
  • 1 tsp salt
  • 1/2 tsp black pepper

Pico de Gallo

  • 2 roma tomatoes
  • 1/4 cup red onions diced
  • 2 tbsp jalepeno diced
  • 2 tbsp cilantro
  • 1 tbsp lime juice
  • 1/2 tsp salt


  • 6 flour tortillas
  • 1/2 cup queso fresco crumbled
  • 1/4 cup cilantro chopped


  • Combine all the ingredients under "steak marinade" except for flank steak in a bowl. Whisk to combine.
  • Pour marinade onto flank steak, and make sure flank steak is covered in marinade. Marinade for at least 2 hours, but no longer than 12 hours.
  • Combine all the pico de gallo ingredients in a small mixing bowl. Refrigerate and set aside until ready to use.
  • Grease and heat grill or grill pan. When grill is hot, place flank steak on the grill (shake off access moisture before placing on grill).
  • Grill steak for a few minutes on each side, then flip and grill the other side for another few minutes. Cook time varies based on doneness preferences. Use a meat thermometer to determine doneness. See chart in notes for steak temperature at different level of doneness.
  • When steak is done, remove promptly. Place steak on a plate and wrapped in aluminum foil to rest for 5-10 minutes. Slice steak into thin strips.
  • Heat tortillas either on the grill, stovetop or in microwave.
  • Top tortillas with sliced steaks, pico de gallo, queso fresco and cilantro. Serve and enjoy!


Steak temperature:
    • Medium rare – ~140℉
    • Medium – ~150℉
    • Medium well – ~160℉
    • Well done – ~165℉


Calories: 552kcal | Carbohydrates: 49g | Protein: 44g | Fat: 19g | Saturated Fat: 8g | Polyunsaturated Fat: 2g | Monounsaturated Fat: 6g | Trans Fat: 0.2g | Cholesterol: 105mg | Sodium: 1990mg | Potassium: 884mg | Fiber: 4g | Sugar: 8g | Vitamin A: 780IU | Vitamin C: 38mg | Calcium: 289mg | Iron: 6mg
Did you make this recipe?Take a pic and tag me at @joyous.apron, or hashtag #joyousapron on Instagram!

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