Taylor, 26, is also wanted for unlawful flight to avoid prosecution.
Authorities say that on March 23, 2009 Taylor, along with two other gang members, allegedly drove through a south Phoenix neighborhood trying to find and murder rival gang members, including a pregnant female.
Later that day the group found a vehicle with the targeted gang members and Taylor and the two other gang members with him allegedly opened fire, striking the other vehicle.
At the time there was another vehicle between the two gang members' vehicles driven by Gilbert Leon. Leon was struck in the back and died instantly.
Authorities say one of the targeted victims was struck in the back and a stray bullet struck another passing vehicle.
The U.S. Marshals Service says Taylor poses an extreme threat to the community.
The other two gang members involved in the shooting have already been arrested and convicted for the crime.
A reward of up to $25,000 is being offered for information leading to Taylor's arrest.
Anyone with information should call the nearest U.S. Marshals office or the U.S. Marshals Service Communications Center at 1-800-336-0102.