It was a great start for the hosts as Taylor finished neatly, latching onto a pass from strike partner Ben Greenhalgh after just four minutes.
He grabbed his second on the half-hour mark, providing vital daylight between the sides and settling Maidstone down.
Greenhalgh came close to scoring in the second half but his shot sailed just over the bar before Braintree were reduced to 10 men after Jon Ashton received his marching orders with nine minutes remaining.
The visitors make a mark on the game in stoppage time when Joe Maybanks pulled a goal back but it was not enough for a point.
Report supplied by the Press Association.
Match ends, Maidstone United 2, Braintree Town 1.
Second Half ends, Maidstone United 2, Braintree Town 1.
Goal!  Maidstone United 2, Braintree Town 1. Joe Maybanks (Braintree Town).
Substitution, Maidstone United. Vas Karagiannis replaces Bobby-Joe Taylor.
Jon Ashton (Braintree Town) is shown the red card.
Substitution, Braintree Town. Joe Maybanks replaces Rohdell Gordon.
Reece Hall-Johnson (Maidstone United) is shown the yellow card.
Substitution, Maidstone United. Reece Hall-Johnson replaces Tom Murphy.
Substitution, Braintree Town. Michael Cheek replaces Lee Barnard.
Substitution, Maidstone United. Dan Sweeney replaces Jack Paxman.
Second Half begins Maidstone United 2, Braintree Town 0.
First Half ends, Maidstone United 2, Braintree Town 0.
Barney Williams (Braintree Town) is shown the yellow card.
Goal!  Maidstone United 2, Braintree Town 0. Bobby-Joe Taylor (Maidstone United).
Jack Paxman (Maidstone United) is shown the yellow card.
Goal!  Maidstone United 1, Braintree Town 0. Bobby-Joe Taylor (Maidstone United).
First Half begins.
Lineups are announced and players are warming up.
A first-half brace from Bobby-Joe Taylor earned Maidstone a second win of the season as they beat Braintree 2-1 at home in the National League on Tuesday night.