The 93-year-old actress was surrounded by family when she passed away.
Taylor was nominated for a 1986 Emmy for her seven-year role as Anna Huxtable in the celebrated sitcom. She also appeared in 'Smoke' alongside Harvey Keitel, 'Tell Me That You Love Me, Junie Moon' with Liza Minelli and 'Sesame Street,' on which she played David's grandmother.
Taylor was also an active member of the New York Stage group and the Negro Ensemble Company -- her presence as a leading actress in the African-American community did not go by unnoticed.
Taylor's legacy will not be forgotten by her fans, two sons, William and James, and five grandchildren.
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David Nelson, Jan. 11:An actor who starred alongside his parents and little brother Ricky in the beloved TV series 'The Adventures of Ozzie and Harriet,' Nelson died at age 74 after battling complications of colon cancer.