Taylor was with Seattle during training camp and was released during cutdowns to avoid guaranteeing his salary.
Taylor, 28, is a former second-round pick of the Dolphins back in 2013. Miami traded Taylor and the No. 250 overall pick to the Browns back in 2016 for the No. 223 selection in the 2016 NFL Draft.
Taylor was in the final year of a four-year, $3.626 million contract when the Browns signed him to a three-year, $15 million deal. He was later traded to the Cardinals for a 2020 sixth-round pick last year.
Arizona waived Taylor back in November and he later caught on with the Broncos soon after.
In 2018, Taylor appeared in 14 games for the Broncos and Cardinals and recorded 18 tackles, no interceptions, a forced fumble and a pass defense.
We had him featured in our Top 50 Available Free Agents list.