I had vague memories, so tried googling. Most of the results were for Civ and Age of Empires and other computer games.
Still. I found 2 tactics that they seem to have used. 1) the roads were built for humans and llamas. Horses found them occasionally steep enough that riders had to get off and lead them. At those points, ambushes were pretty effective. 2) bolas. Entangle the legs of the cavalry horses, causing them to fall down. This makes the horse easy prey for usual weapons. If the defenders are lucky the Spaniard is hurt by the fall and/or partly pinned by his horse, which makes him easier prey, too.
The Aztecs in Tenochtitlan, iirc, had a technique where warriors with loops (at the end of sticks, not really lassos) would rush up, snare a rider, and pull him off the horse. Don't know if the Inca ever tried that. This works best, of course, in a confined space - e.g. city streets.