She graduated from Milwaukee's Rufus King High School in 1984 and went on to attend the University of Wisconsin–Milwaukee, where she earned her bachelor's degree in English in 1990.

[1] After graduating from law school, Taylor went to work as a public defender for more than two years, representing indigent citizens in need of legal services.

Shortly into the start of the 2011 legislative term, Walker proposed his controversial "Budget Repair Bill", which would eliminate collective bargaining rights for Wisconsin's public-sector unions.

[12] During the course of debate, Taylor made statements comparing Walker's proposed legislation to Adolf Hitler's plan to eliminate unions.

[17] In her 2016 re-election campaign, Taylor faced a primary challenge from state representative Mandela Barnes, but she managed to prevail with 60% of the vote.

Taylor ran for Milwaukee County executive, challenging Republican incumbent Scott Walker in the Spring 2008 election.

[25] She survived the February non-partisan primary, which narrowed the field to the top two vote-getters,[26] but was defeated by Barrett in the general election, receiving 36% of the vote.

Taylor ran again, but fell to third place in the non-partisan primary, behind acting mayor Cavalier Johnson and long-time city council member Bob Donovan.

[36] She was defeated in the April 4 general election by Molly Gena, the managing attorney of a pro bono legal services provider.

[37][38] On January 26, 2024, Governor Tony Evers appointed Taylor to fill the Wisconsin circuit court judgeship in Milwaukee County left vacant by the resignation of judge Audrey Skwierawski.