The 33-year-old joins on a free transfer after finding himself without a club and has signed a one-year contract with the Whites.
He brings a wealth of experience to the club as has a league title and FA Cup and two Charity Shield victories to his name from his time at Arsenal. He also played for Reading and Manchester City in the top flight.
Taylor travelled to Italy with the first team on Monday and has joined the rest of the squad for pre-season training.
United head coach David Hockaday said: “I’m absolutely delighted to get Stuart Taylor here.
“He comes highly recommended by everybody. He has lots of experience and is a great professional.
“He will be perfect for our dressing room because we have a very young team. So I’d like to give Stuart a big welcome to Leeds United.”