Taylor was surrounded by her family when passed away Monday from heart failure.
A New York native, Taylor performed in the theater and was a founding member of the Negro Ensemble Company. Her big break came when she was cast as Harriet on Sesame Street. She then went on to star alongside Liza Minnelli in the 1970 film Tell Me That You Love Me, Junie Moon. She originated the stage role of Addaperle, the Good Witch of the North, in the Broadway production of The Wiz, which opened in 1975.
In 1986, Taylor earned an Emmy nomination for her performance as Anna Huxtable, the mother of Bill Cosby's Cliff.
Taylor is survived by two sons, William and James, and five grandchildren.