He died of natural causes at home surrounded by family and friends. "My dad loved his work. Being an actor was his passion - calling it an honorable art and something he couldn't live without," his daughter, Felicia, said in a statement.
The Australian native got his start on radio in his native country and won a plane ticket to Los Angeles when he was named the 1954 Rola Show Australian Radio Actor of the Year.
Stateside, he made appearances on TV shows like Studio 57, Hell on Frisco Bay and Giant before segueing to film in 1955 when he landed a long-term contract with MGM.
His first starring role was 1960's sci-fi adventure film The Time Machine, based on the book by H.G. Wells. He lent his voice to Disney's 101 Dalmatians the following year, and then starred in Alfred Hitchcock's The Birds in 1963. Other films roles included The V.I.P.s, The Liquidator and Young Cassidy.
He transitioned back to TV in the 1970s and starred on several short-lived shows before finding success as Frank Agretti on Falcon Crest. He went on to guest-star on shows like Murder, She Wrote and Walker, Texas Ranger.
He most recently made a cameo as Winston Churchill in 2009's Inglourious Basterds.
Taylor is survived by his wife, Carol, and his daughter.