Heat olive oil in a large skillet over medium heat.
Add diced onion and cook until softened.
Add ground beef and cook until browned. Stir in garlic and cook for 1 minute.
Add taco seasoning, rice, chicken broth, and salsa. Stir well.
Bring to a boil, then cover and reduce heat to low.
Cook for 15–20 minutes until rice is tender and liquid is absorbed, stirring occasionally.
Stir in cheese and cilantro until melted and combined.
Remove from heat, cover, and let sit for 2 minutes.
Serve your Easy Skillet Taco Rice with desired toppings.