[1] He assisted in the establishment of the University of Ilorin, which was founded by decree in August 1975.

During the Civil War, he was head of the transport and supplies division of the Nigerian Army.

Taiwo, then a captain with the Lagos Garrison in Yaba, was one of the many officers (including 2nd Lieutenant Sani Abacha, Lieutenant Muhammadu Buhari, Lieutenant Ibrahim Bako, Lieutenant Colonel Murtala Muhammed and Major Theophilus Danjuma, among others) who staged what became known as the Nigerian counter-coup of 1966 because of grievances[3] they felt towards the administration of General Aguiyi Ironsi's government, which quelled the 15 January 1966 coup.

Taiwo played a central role in the coup that ousted Yakubu Gowon and brought Murtala Mohammed to power, under cover of his supply and transport duties in the army, working closely with Lieutenant Colonel Muhammadu Buhari.

He was also killed by the coup plotters because of his alliance with the late head of state.