Veteran striker scored a 10-minute second-half hat-trick as Tamworth came from 2-0 down to win at Leigh RMI.
Lee Connell headed home from close range and Gary Williams fired in a left-foot volley as RMI led early on.
But after the break Taylor smashed in a spectacular effort from 25 yards before getting on the end of Marcus Ebdon's corner to draw the visitors level.
And before the Railwaymen could regain their composure, Taylor headed the Lambs' winner from close-in.
Leigh RMI: Crichton, Lane, Miller, Gaunt, Roscoe, Williams, Simms, Connell (Smith 71), Burton (Starbuck 72), Rose, Robertson (Shilton 59).
Subs Not Used: Hockless, Meechan.
Goals: Connell 8, Williams 26.
Tamworth: Price, Simpson, Redmile, Robinson, Stamps, Turner,
Ebdon, Cooper, Colkin, Whitman (Francis 53), Taylor.
Subs Not Used: Storer, Sheppard, Bampton, Nick Smith.
Goals: Taylor 67, 70, 77.
Ref: R Hewitt (Scarbrough).