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.
Copyright 2016 Nexstar Broadcasting, Inc. All rights reserved. This material may not be published, broadcast, rewritten, or redistributed.