The 40-year-old was brought in by previous manager Simon Grayson as experienced cover for Andy Lonergan, but did not start a game and was an unused substitute on 12 occasions before falling victim to new manager Neil Warnock’s policy of naming no keeper on the bench.
He joined Millwall to the end of the season and played 10 games – including Leeds’ visit to the New Den on Saturday, March 24.
Warnock indicated then that Taylor would be leaving United.
He said: “He’s been a great pro over the years and he’s got a chance to go to Millwall and do some coaching.
“He’s 40 years of age and I didn’t feel I could restrict him from that career. He’ll be leaving here on a free transfer at the end of of the season anyway.”
Warnock is announcing his retained players’ list today and it will not include left-back Paul Robinson, after his loan spell from Bolton did not do him enough to win a permanent deal.
Robinson made 10 appearances for United, but was left out of the last match against Leicester City and has returned to Bolton.
Portsmouth defender Jason Pearce is expected to sign in the next few days while speculation about a move for controversial striker El-Hadji Diouf continues with the player reported as saying he would like to move to Elland Road.