Taylor attended the first Paralympic Games in Rome in 1960, competing in the para table tennis. He won gold in both the men's singles A and, with M. Beck, the men's doubles A. His table tennis successes continued at the 1964 Games in Tokyo as he defended the titles in the reclassified A2 doubles, again with Beck, and the A2 singles against his doubles partner in the final. In Tel Aviv in 1968 Taylor lost in the quarterfinals of the singles competition but won the doubles again, this time partnered with Stephen Bradshaw. Also at these Games he entered the men's pentathlon incomplete, finishing in third place and thus securing a bronze medal.