Midfielder Mark Hudson headed the home side in front before the 19-year-old got in on the act with an impressive brace.
Struggling Macclesfield finally crumbled after holding out for over an hour and the Yorkshire side beefed up their promotion credentials.
Mark Robins' side, with only one defeat in 15 league outings were left frustrated as Macclesfield soaked up the pressure.
But after 69 minutes Hudson headed in a text book cross from Stephen Brogan. Then Taylor added the second drilling in an 80th minute shot, before crashing in the third three minutes from the end.
The Yorkshire outfit spent the opening spell struggling to find a gap. Macclesfield keeper Jonathon Brain spilled the ball when he clashed with striker Derek Holmes, but Brain recovered to snatch the ball from Danny Harrison as he raced in to follow up.
And after 32 minutes on-loan midfielder Ian Ross, due to return to Sheffield United, lashed a spectacular long-range effort that smacked against the woodwork.
As Macclesfield failed to clean up the ball broke for defender Marc Joseph who slammed a 25-yard effort that Brain tipped over the top.
And as Rotherham maintained the pressure Ross, who Rotherham hope to re-sign, cut inside and curled a left foot shot just wide of the upright.
Macclesfield produce a solitary effort when they broke quickly from the back through Danny Thomas. He swung a cross from left and Rotherham defender Brogan's poor header dropped for Nick Blackman, who drilled his shot wide.
Rotherham were almost caught out five minutes into the second half when Sean Hessey hit a 30-yard free-kick that was blocked, but when Gareth Evans followed up his shot was deflected over.
And when Carl Regan chipped a ball to the far post Blackman again went close.
The home fans were frustrated when Brogan burst down the left and hit a wild shot hopelessly wide of the target.
The breakthrough finally came after 69 minutes when Hudson won the ball in the middle and forced it wide to Brogan. He drilled in an accurate cross and midfielder Hudson met it with a solid header to comfortably beat Brain for the opener.
As Macclesfield were forced to hunt for an equaliser they were caught out again ten minutes from the end. Pablo Mills won the ball and substitute Taylor snapped up the ball and rifled in a low shot for the second.
Taylor then put gloss of the final score by adding his second of the afternoon with three minutes left on the clock.