Taco Palenque was founded by Juan Francisco Ochoa (Don Pancho) from Sinaloa, Mexico. Ochoa was also the creator of the El Pollo Loco secret chicken recipe and founder of the Grilled chicken concept. Don Pancho Ochoa and his brothers and sisters opened several El Pollo Loco franchises in Mexico in the late 1970s and the United States in the 1980s.  In 1985, Juan Francisco moved to Monterrey where he planned to create a Mexican fastfood chain in the United States with drive thrus that served authentic Mexican food. In 1987, Ochoa opened Taco Palenque in Laredo, Texas. The chain expanded to McAllen in 1998, Brownsville in 2001, San Antonio in 2007, Nuevo Laredo, Mexico in 2008, Houston, Texas in 2010, Mission, Texas, Cotulla, Texas in 2011 and Weslaco, Texas in 2015. In 2005 Palenque grill was established.
Palenque Grill is a subsidiary of Taco Palenque. Palenque Grill was established in 2005 with the opening of its first restaurant in Laredo, Texas. Palenque Grill restaurants feature: premium meats, seafood, margaritas, parrilladas, traditional Mexican appetizers and desserts. These restaurants are higher-end than the regular Taco Palenque. As of 2008 there are two Palenque Grill locations, one in Laredo the other in McAllen. Then near the end of 2011 the Ochoa family opened Palenque Grill in San Antonio, Texas. In 2015 the company built a second Palenque Grill in Mcallen, Texas. The official slogan for Palenque Grill is "Un Rinconsito de Mexico" which means "A little corner of Mexico."
Pollo Palenque (formally named Pollo Tori) is another subsidiary of Taco Palenque. Pollo Palenque is a fast-food restaurant chain specializing in Mexican grilled chicken. The restaurants main dish is pollo asado, a grilled marinated chicken. The meal is usually served with salsa, totopos and tortillas. The restaurant is currently only located on the border. It is located in Laredo, TX and the Rio Grande Valley.