Taylor was selected by the Packers in the second round of the 1958 NFL draft, the 15th overall pick, taken in December 1957 while Lisle Blackbourn was still the head coach. His rookie contract was worth $9,500. That draft for the Packers included future stars Dan Currie (3rd), Ray Nitschke (36th), and Jerry Kramer (39th), but the 1958 team finished with the worst record in the league (and the franchise's worst ever, through 2016), under first-year NFL head coach Ray "Scooter" McLean. Taylor was used sparingly as a rookie, but in the penultimate game at Kezar Stadium, he gained 137 yards on 22 carries in a 48–21 loss to the San Francisco 49ers, and his running style brought cheers from the San Francisco fans. With a one-year contract that was not to be renewed, McLean resigned days after the season and was replaced by Vince Lombardi in January 1959.