Though best known for his television and film work, Taylor appeared as Lumiere on Broadway in Disney's Beauty and the Beast starring Toni Braxton and was a working theatre actor throughout his career, most notably in Los Angeles and Chicago. In Chicago, Taylor was a regular at the renowned Goodman Theatre as well as working at the Organic Theatre Company, and was nominated for a Joseph Jefferson award several times, garnering two wins for Best Leading Actor in Athol Fugard's Sizwe Banzi Is Dead and Richard Wright's Native Son both at the Goodman. His stage work in Los Angeles includes appearances at Center Theatre Group and Ensemble Studio Theatre - LA.
Taylor received an Emmy Award for the role of Jim in WTTV's production of "Huckleberry Finn."
He is survived by his wife, four children and four grandchildren.