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In a 10 inch cast iron skillet, cook the ground beef and onion over medium heat until cooked through and the onion has softened. Drain if necessary.
Into the same skillet, stir in the Velveeta, canned tomatoes, yellow mustard, tomato paste, and Worcestershire sauce. Stir until the cheese has melted and the dip starts to form.
Reduce the heat to low, and add in ground pepper if desired.
Keep warm and serve with additional chopped dill pickles if desired.
If you want to, you can also pour the mixture into casserole dish and bake until ready to serve. Or keep warm on a portable burner or Crockpot set to warm.