The 26-year-old had been with the Puritans since August 2021.
He spent his youth career playing for notable Football League academies such as MK Dons and Cambridge United.
He has also played for the likes of Gloucester City, Oxford City and North Leigh.
This experience was put to the test across the pond, where studied and played for the American International College in Springfield, Massachusetts.
Taylor debuted for the Millers in the 1-0 defeat at Hartley Wintney on Tuesday night.
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