Taylor was at bat in the bottom of the third inning with the bases loaded. The Nationals trailed 3-2 when Taylor stepped in against Phillies righty Jake Thompson.
He took an 83.5 mph slider for a called strike before eying Thompson's second offering. Taylor belted the 84.4 mph knee-high slider to centerfield, over the head of a leaping Odubel Herrera. He flew around the bases before diving over home plate to secure the rare four-bagger.
"Soon as it went over his head, I was thinking four right there," Taylor told reporters, according to the Washington Post.
"I didn't read the line drive well," Herrera told MLB.com. "I thought it was going to sink. It didn't. It picked up."
Taylor went 4-for-5 with five RBI in the victory. He also scored twice and even showed off his defensive prowess. Taylor launched a throw from the outfield in the seventh inning to get Nick Williams out at home. That throw was measured at 96.3 mph and went 243 feet, according to Statcast. Taylor also had a home run robbery on Thursday against the Phillies' Andrew Blanco.
The Nationals have won five consecutive games. The four-game National League East series resumes at 7:05 p.m. Saturday.