Taylor was elected to the Wisconsin State Assembly in a special election in April 2003 and was subsequently elected to the Wisconsin State Senate in 2004. When Democrats were elected to the majority in the Wisconsin State Senate in November 2006, Taylor was chosen to Chair the Committee on Judiciary and Corrections, on which she had served for the preceding two years. In January 2007, Taylor was selected by the Majority Leader to serve on the Joint Committee on Finance for the second time. Following the recall of Van H. Wanggaard in June 2012, and the return of Democrats to majority party control, Taylor was named co-chair of the Joint Committee on Finance.