Taylor was also wanted for unlawful flight to avoid prosecution.
He was arrested late Thursday afternoon near Southern and 7th avenues, according to Phoenix police Sgt. Steve Martos.
Authorities said Taylor, along with two other gang members, allegedly drove through a south Phoenix neighborhood on March 23, 2009, 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 said one of the targeted victims was struck in the back and a stray bullet struck another passing vehicle.
The other two gang members involved in the shooting were already arrested and convicted for the crime.