Taylor, the recent signing from Bolton, was played in by fellow midfielder Scott Parker to tuck in the opening goal after 24 minutes.
Taylor almost scored a second with a trademark free-kick before half-time but his curling shot cannoned back off the post.
The ball fell to the feet of Frederic Piquionne who fired into the net, but the French striker's effort was ruled out for offside.
Freddie Sears wrapped up a deserved victory over the Spaniards a minute from time after being set up by Mexican winger Pablo Barrera.
Carlton Cole, who continues to be linked with a move back to the Premier League, played the final half an hour.