Taylor was convicted and sentenced to death for the 1989 abduction, rape and murder of a fifteen year old girl in Kansas City.
The Missouri Department of Corrections confirms Taylor was pronounced dead at 12:10 a.m.
The execution came after the U.S. Supreme Court denied a stay of execution and Governor Jay Nixon denied a petition for clemency.
There had been much debate in the days leading up to Taylor's execution over the methods Missouri uses for to execute convicted killers.
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