Taylor played left back in over 200 games for Crystal Palace F.C. between 1968 and 1974, scoring 8 goals. He also played for Kilmarnock F.C., Celtic F.C., Morton F.C., Southend United F.C. (to whom he transferred on leaving Palace), Bristol Rovers, Portsmouth F.C., and Northampton Town F.C.. In 1980 he moved to the NASL to play for Toronto Blizzard.
After working as an assistant coach with Celtic, Taylor became coach of Canada's national boy's youth team in the 1980s. He also served as the (senior) national team manager during an unsuccessful bid to qualify for the 1990 FIFA World Cup finals.