Taylor began his collegiate career at South Dakota State, playing for one year before transferring to Mesa Community College.

[2] As a senior, Taylor recorded 47 tackles, three interceptions (one returned for a touchdown), seven passes defensed and two forced fumbles.

[6] He made his NFL debut on October 6 against the Kansas City Chiefs, making one tackle and breaking up a pass.

[9] Taylor signed a one-year exclusive-rights free agent tender with the Broncos on April 18, 2020.

[11] On July 28, 2020, Taylor was claimed off waivers by the New York Giants and the team waived him five days later.