Taylor participated in 29 World Championship Formula One Grands Prix, qualifying for 27 of them. He made his debut on 18 July 1959, in the British Grand Prix held that year at Aintree, driving a privately entered 1.5-litre Cooper T51 but did not qualify. In 1961, he was thirteenth at that year's Dutch Grand Prix, his only World Championship drive that year. He was second in the 1962 Formula One season opening Dutch Grand Prix, his only World Championship podium finish. He led early in the Belgian Grand Prix at Spa and after his team leader Clark passed he engaged in a duel with Willy Mairesse who was driving before his home crowd. Following in Taylor's slip steam, Mairesse clipped the extension of Taylor's gearbox going uphill from Stavelot, the Ferrari 156 having more power uphill, and while neither suffered serious injury both were lucky to survive the high speed encounter. Taylor said that while, Mairesse generally tried too hard and was over eager for Championship honours, on this occasion, Mairesse was driving well and with precision and it was not his fault.