Taylor ghosted in at the back post to slide home Jack Divall's header across goal as Simon Rowland left his former championship winning club victorious.
United were without target man Ryan McBride and Jack Franklin for the fixture as Ashley Darby made his first start after two brief substitute appearances and Divall returned to the starting XI after missing Saturdays victory over Haywards Heath Town.
There was a familiar look to the AFC Uckfield side, managed by former United 'keeper Ray Collier, with 6 former United players named in their starting line-up.
Grant Young had to be alert to get across his goal to make a smart save following an early Uckfield corner as the home side looked to apply pressure.
Wes Tate, playing in a more advanced position, was denied twice within the opening 15 minutes before lifting an effort wide of the goal after breaking through the Uckfield defence.
Ben Dartnall arrived in the area and headed over when well placed as United failed to fully test Andy Albon.
Tate took his chance on 28 minutes as he once again breached the Uckfield backline.
His first attempt to lift the ball over Albon was saved, but Tate regained his composure to put United ahead.
Taylor saw a fierce left footed drive cleared off the line by Sammy Bunn as United finished the half with a slender advantage.
Tate was again denied by the feet of Albon in the Uckfield goal as a second goal was proving elusive.
Taylor was inches away from that second goal after cutting in from the left.
The United defence restricted their hosts efforts throughout the evening, but after substitute Jack Aston was penalised for a foul a free kick was fizzed in and whistled past the post.
Uckfield pushed forward as the game moved towards its climax and Young had to be off his line quickly to smother an Uckfield attack but there was nothing the United stopper could do about the equalising goal.
With the ball played in from the right wing, Aaron Capon rose highest to thump a header goalwards that Young could only palm onto the crossbar and into the net to joyous celebrations from the Uckfield team and management.
Taylor had the last laugh however as he combined with former AFC Uckfield duo Ben Dartnall and Divall to strike in the 91st minute and send United to the top of SCFL Division Two