The 25-year-old arrives at Meadow Lane after leaving rivals Chesterfield for an undisclosed fee, Taylor joins the magpies on a 2-year-deal.
He came through the Stoke City academy, before joining Kidderminster Harriers where he made 50 appearances for the club before departing permanently to Chester. The Spireites paid £25,000 to Chester for his services last December.
Notts County head coach, Ian Burchnall said: "We needed a wing back who could offer a threat one-against-one.
"Joel’s pace in the wide areas and his ability to attack in those moments is really important.
"He’s been playing wing back at Chesterfield and, based on the games we’ve seen, he was most effective when they were attacking." he added.
"With us being a team that wants to do that, we feel he’ll suit us well. Joel we have to look at the whole package, including his age and potential.
"He’s got the capacity to develop his game further, and we feel we can help him do that in this environment."
Via Twitter, Joel Taylor addressed the fans by writing "Delighted to get this done! Can't wait to get started."
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