In a large pot or Dutch oven, brown the ground beef over medium-high heat. Drain off any excess grease.
Stir in the taco seasoning and cook for 1 minute more.
Add the diced tomatoes, black beans, corn, kidney beans, and beef broth to the pot. Bring to a boil, then reduce heat and simmer for 20-25 minutes, or until flavors have melded.
Serve hot with your favorite toppings, such as shredded cheese, sour cream, avocado, and tortilla chips.
Notes
Feel free to add other vegetables like diced bell peppers or onions to the soup. You can also adjust the amount of taco seasoning to your preference.