The cuspy central density profiles of cold dark matter (CDM) haloes make them highly resilient to disruption by tides. Self-interactions between dark matter particles, or the cycling of baryons during galaxy formation, may result in the formation of a constant density core which would make haloes more susceptible to tidal disruption. We use N-body simulations to study the evolution of NFW-like "cored" subhaloes in the tidal field of a massive host, and identify the criteria and timescales for full tidal disruption. Applied to the Milky Way (MW), our results imply that the survival of MW satellites places interesting constraints on core formation. Indeed, we find that no subhaloes with cores larger than 1 per cent of their initial NFW scale radius can survive for a Hubble time on orbits with pericentres <10 kpc. A satellite like Tucana 3, with pericentre ~3.5 kpc, must have a core size smaller than ~2 pc to survive just three orbital periods on its current orbit. The core sizes expected in self-interacting dark matter (SIDM) models with a velocity-independent cross section of 1 cm^2/g seem incompatible with ultra-faint satellites with small pericentric radii, such as Tuc 3, Seg 1, Seg 2, Wil 1, as these would fully disrupt in less than 10 Gyr after infall. These results suggest that many satellites have vanishingly small core sizes, consistent with CDM cusps. The discovery of further Milky Way satellites on orbits with small pericentric radii would strengthen these conclusions and allow for stricter upper limits on the core sizes implied by the survival of Milky Way satellites.