The 28-year-old, who stands 6ft 4in tall and weighs 17st 7lbs, has also had a spell playing for Connacht in the Magners League.
"I'm really looking forward to the move and joining the Warriors," said Taylor.
"The club is moving forward in a good direction and I want to fit in and be part of that emphasis.
"The set up sounds awesome and the support structure sounds top class, headed of course by a great coaching staff.
"I am extremely excited about working with and becoming part of the Warriors family."
Born in Australia but raised in New Zealand, Taylor represented New Zealand at Under-19 and school boy levels. He made his debut for Otago in the 2006 Air New Zealand Cup and earned a contract with the Highlanders for the 2007 Super 14 season.
Taylor signed with the Queensland Reds - where he is currently training - for the 2009 Super 14 season. He appeared in 14 matches over two seasons for the Reds.
The back row signed with Connacht for 2010/11 and made his Samoa debut earlier this year against Japan.