The St. Louis native began his career working as an electrician at the Performing Arts Society of Los Angeles. He studied acting during his time off.
Taylor’s mentor, Larry Clark, suggested he try out for a part. Clark sent him down to Red Foxx’s room. They talked, and Foxx told him he had the part which later became Rollo Lawson.
After Sanford and Son was canceled, Taylor went on to act in The Redd Foxx Show and ’70s TV sitcom What’s Happening!!, based on the movie Cooley High.
Taylor also reprised the role of Rollo on the ’80s spinoff Sanford and the short-lived TV sitcom Grady.
Taylor was also featured in ’70s blaxploitation movies such as Trouble Man, starring Robert Hooks, and Dynamite.
After he retired from acting, Taylor opened a performing arts center where he mentored young actors.
Taylor and his wife Loretta had 7 children – four daughters and three sons. He is also survived by 6 grandchildren, 7 great-grandchildren and 3 siblings.