Taylor scored on a 95-yard run in the third quarter.
Brad Johnson was 15-for-24 for 171 yards, one touchdown and no interceptions, Marcus Robinson caught four passes for 77 yards and one touchdown, Ryan Longwell kicked two field goals and Mewelde Moore threw a touchdown pass for the Vikings (4-2), who snapped Seattle's 12-game home winning streak.
The Seahawks (4-2) again played without MVP running back Shaun Alexander, who sat out his third straight game with a cracked bone in his left foot. Quarterback Matt Hasselbeck was injured on Seattle's opening possession in the second half when Vikings linebacker E.J. Henderson rolled into his right knee on a third down pass play.
Back-up Seneca Wallace went 14-for-25 for 135 yards and two interceptions.
Josh Brown kicked two field goals.