The 21-year-old, who battled back from testicular cancer back in November 2018, left the club earlier this summer after struggling to break into United's first team.
On joining the League Two club, Taylor said: "I'm very happy to get everything over the line.
"I've loved the feeling around the club [during my time here so far].
"Everyone has a great attitude and I'm really looking forward to cracking on with the season.
"I think everyone wants to get going now. We've had a good pre-season and all the lads have got good minutes under the belts.
"Everyone will be fighting for a shirt on Saturday."