In a large pot or Dutch oven over medium heat, add ground beef, diced onion, and minced garlic. Cook until the beef is browned and the onions are soft, about 8-10 minutes.
Add tomato paste and cook for an additional 2 minutes to meld flavors.
Add diced carrots, celery, and potatoes to the pot. Pour in beef broth and canned diced tomatoes with their juices.
Stir in Worcestershire sauce, salt, black pepper, and dried oregano.
Bring the pot to a boil over medium-high heat. Let it boil for about 10 minutes.
Lower the heat to medium-low, cover the pot, and simmer for 20-25 minutes until vegetables are tender. Stir occasionally.
Adjust seasoning with more salt and pepper to taste. Serve hot.
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Notes
Store leftovers in an airtight container in the refrigerator for 3-4 days or freeze for up to 3 months.