Neither a visa nor ESTA is required when traveling directly to Mexico for a stay of up to 180 days. However, if entering Mexico via the U.S., your stay may not exceed 90 days.
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The Visa Waiver Program allows citizens of participating countries to travel to the U.S. for tourism or business for up to 90 days without a visa. If you are a citizen of a country participating in the Visa Waiver Program (VWP), you must meet the eligibility requirements to travel to the U.S. under the program.
Tourists who wish to stay in Mexico longer than the number of days written on the FMM must apply for a tourist card extension. Applicants must go to an immigration office in person and carry: Their valid passport. Their valid Mexican visa.