The defender made the move to Macron Stadium from Wigan Athletic, having previously spent the 2015/16 campaign on loan at Reading.
Starting his career at Middlesbrough alongside David Wheater, the former England Under-21s international made his professional debut when on loan with Bradford City in August 2005.
An FA Cup semi-finalist with Middlesbrough in 2006, the 30-year-old joined Cardiff City in July 2011 following a loan stint with Watford.
Winning promotion to the Premier League with the Bluebirds in 2013, he later signed for Wigan Athletic in June 2014.
Taylor was handed his Wanderers debut within days of joining the club, coming on as a late substitute in the Whites' 2-1 victory away at AFC Wimbledon, before later making his first start against Everton in the Checkatrade Trophy.