Taylor's playing career was resurrected at Cambridge. Playing with youngsters such as Trevor Benjamin, Martin Butler and Michael Kyd he was able to lend his experience and score some vital goals along the way. Taylor's goals helped United to promotion from Division 3 in 1999 and in total he went on to score a further 40 goals for the club, beating Alan Biley's long standing club record of league goals – Taylor finished his Cambridge career with 86 league goals for the club. Taylor had also been appointed Reserve Team manager after hanging up his boots and spoke of his keenness to one day go into management.