Taylor took part in the division's parachute jump into Normandy on June 6, 1944 (D-Day), the first Allied general officer to land in France on D-Day. He subsequently commanded the 101st in the Battle of Normandy, including in the capture of Carentan on June 13, and the division continued to fight in the campaign as regular infantry. The 101st Airborne Division was pulled out of the line in late June, having been in almost continuous action for nearly a month, and in early July, he returned to England to rest and refit and absorb replacements, after having suffered over 4,600 casualties.