He returned to Formula One with Brabham in the 1966 French Grand Prix, where he managed to snatch his only career point. He then raced 2 more races after this, where he placed 8th both times. He started the 1966 German Grand Prix, but died after a lap one crash.
While racing in the 1966 German Grand Prix, Taylor collided with Jacky Ickx on the first lap, on the approach to Quiddelbacher-Hohe. The car caught fire, but Taylor managed to free himself from the wreck. He was transferred to a nearby hospital, where he died four weeks later of severe burns.