She was born to a Black Canadian father and a white Canadian mother (of Scottish descent). She married Miles Cooley on June 10, 2007. She made her acting debut in A Different World in 1991.
Taylor was born in Toronto to an African Canadian father and a Scottish Canadian mother. She dropped out of high school to try modeling and see the world, with her mother supportive of her decision: "School will always be there, she told me." Taylor is a second cousin to Neve Campbell with whom she appeared on Party of Five. Taylor married attorney Miles Cooley in 2007 but the couple divorced in May 2012.
She has appeared in the CBS medical drama 3 lbs as Della and the UPN series Sex, Love & Secrets in the role of Nina; both series were short-lived.
Taylor has made guest appearances on NCIS, Numb3rs, Lost, CSI: Miami, Without a Trace, Party of Five and Dawson's Creek. In her feature film debut, Senseless, she played Marlon Wayan's love interest. She portrayed Debrah Simmons in the 2005 romantic-comedy Diary of a Mad Black Woman, Halle Berry's best friend in Introducing Dorothy Dandridge and had a brief role in Serenity, the movie conclusion of the TV series Firefly by Joss Whedon. Through her part in Serenity, Taylor was able to audition for a show with actor David Boreanaz, who had previously worked with Whedon in Buffy the Vampire Slayer and Angel. She also appeared in the TV series Lost, as the former girlfriend of Michael and mother of Walt.
She first appeared in Bones in the first episode of the second season, "The Titan on the Tracks", portraying the character Dr. Camille Saroyan. In the first six episodes of the season, she was credited as a guest star because creator and writer Hart Hanson had planned to kill her in episode twelve when Howard Epps, a recurring serial killer, poisoned her in order to create more tension and drama between the two main characters. However, the response to Cam was so strong that the writers offered her a position as a recurring regular in the show. Thus, since episode 7, "The Girl with the Curl", she has been credited as a main character of the series and appears in the title sequence.
- City of Angels (2000)
- Hidden Hills (2002)
- CSI: Miami (2002)
- Lost (2004)
- Numb3rs (2005)
- NCIS (2005-2006)
- Bones (2005-2017)
- Altered Carbon (2018)
- Agents Of S.H.I.E.L.D (2020)
- Senseless (1998)
- Introducing Dorothy Dandridge (1999) (TV Movie)
- Diary of a Mad Black Woman (2005)
- Serenity (2005)