Preheat the oven to 375°F (190°C).
In a large skillet, brown the ground beef over medium heat.
Add diced onions and minced garlic, cooking until soft.
Stir in the cream of mushroom soup and milk, mixing well.
Add Worcestershire sauce, salt, and pepper, stirring to combine.
Pour the beef mixture into a greased casserole dish.
Arrange tater tots on top of the beef mixture.
Bake in the preheated oven for 30–35 minutes, or until the tots are golden brown.
Let the casserole cool for a few minutes before serving.