Taylor originally performed in the companies of Merce Cunningham, Martha Graham, and George Balanchine, and founded his own in 1954.

Dancers and choreographers who have emerged from his company include Twyla Tharp, Pina Bausch, David Parsons, Laura Dean, Bettie de Jong, Dan Wagoner, Carolyn Adams, Elizabeth Keen, Christopher Gillis, Senta Driver, Amy Marshall, Lila York, Patrick Corbin, and Takehiro Ueyama.

During Adams's seventeen-year career with the company, she starred in several major productions including Orbs in 1966, Big Bertha in 1971; Aureole and Esplanade in 1975; and Le Sacre du Printemps (The Rehearsal) in 1980.

Noted for her strong stage presence and long line, she was Paul Taylor's favorite dancing partner and, as current Rehearsal Director, was his right hand for the past half-century.

Paul Taylor Dance Company's annual New York seasons have been presented at Lincoln Center's David H. Koch Theater since 2012.

Examples include Esplanade,[7] Brandenburgs, Mercuric Tidings,[8] Aureole, Arden Court, and Promethean Fire.