Born in Madison, Wisconsin, Taylor lived in the Chicago and Decatur, Illinois, areas before her family moved to Bourbon, Missouri, a small town 60 miles southwest of St. Louis. At the age of 10 when she was cast in the title role of "Annie" at Ozark Actors Theatre, Rolla, Missouri. She grew up performing in the Muny and with Team Stages in St. Louis. During her sophomore year at University of Michigan, she was cast as Campbell Davis in the tour of "Bring It On: The Musical" and went on to perform the lead role on Broadway in 2012.