Taylor curled the ball home from 25 yards to pull his side back to 2-2 in this entertaining game.
There was plenty of chances early on in the game but it was Doug Loft who took full advantage in the 12th minute when he smashed home an 18 yard volley, giving the keeper no chance.
Marc Richards then saw a shot tipped against the post by the Torquay keeper, but the visitors struck back in the 17th minute.
Robertson played the perfect ball for Wroe to run onto and he fired in a drive that beat Chris Martin as the ball flew into the top corner.
Torquay then forced Martin into a brilliant save from Benyon then Zebroski hit the post.
In the second half Richards forced Poke into making a tremendous save for the visitors in the 53rd minute, but Torquay found themselves in front in the 67th minute when Rendell headed home a Carlisle cross.
That shook Vale into action and Taylor grabbed the equaliser 15 minutes before the end of the contest.