In the late 1950s and early 1960s, prior to becoming an established Director, Taylor worked as an actor. He had a recurring role on Dr. Kildare as "Dr. Gerson". He appeared in several episodes of The Fugitive and Twelve O'Clock High playing different characters. Other TV programs in which he had small roles included Gunsmoke, Men of Annapolis, and Wagon Train. He also played the part of Goff, one of three Americans, in the feature film The Great Escape.
Taylor is perhaps best known for his directorial work on 1960s television classics such as Star Trek, Dr. Kildare, and The Man from U.N.C.L.E.. In the early 2000s, he directed several episodes of Law and Order: Special Victims Unit. Taylor also directed more than 40 made-for-TV movies, including the award-winning Tail Gunner Joe and Foxfire, and the final film appearances of both Susan Hayward (in Say Goodbye, Maggie Cole (1972)) and David Janssen (in City in Fear (1980)).
He died in New York City in 2008, following a long illness.
