After the family moved from New Orleans to Indianapolis, Taylor graduated from Crispus Attucks High School in 1964, where he took an interest in acting, and went on to study in the dramatic arts programs at Wilmington College (Ohio) and Florida A&M University.

While in Chicago, he appeared in David Rabe's Streamers, Native Son (1979 Joseph Jefferson Award Nomination for Actor in a Principal Role in a Play), The Island and Athol Fugard’s Sizwe Banzi Is Dead, for which he garnered the 1977 Joseph Jefferson Award for Actor in a Principal Role in a Play.

He received an Emmy Award for his role as Jim in the WTTW production of Huckleberry Finn and hosted the Chicago television show Black Life.

[7] In 1977, Taylor moved to Los Angeles, where he crafted a gallery of memorable characters in film and on television, including his Emmy-nominated turn in the CBS sitcom Designing Women.

[9] Other appearances include: The Unit, Jessie, Hannah Montana as a fashion designer, All of Us as Neesee's father, The Drew Carey Show, Static Shock, Caroline in the City, Aaahh!!!

!, Hill Street Blues, ALF, Melba, The Golden Girls, Cagney & Lacey, Barney Miller, Lou Grant, The White Shadow, The Incredible Hulk, The Secret of NIMH 2: Timmy to the Rescue, and Barnaby Jones.

[10] Taylor guest-starred in 2012 on Criminal Minds' eighth season in the episode "The Fallen", opposite Mantegna as Harrison Scott, Rossi's former Marine sergeant with whom he served in Vietnam.