But it wasn't until nine minutes from time that the Cobblers made a breakthrough after being frustrated for long periods, having not made the most of their first-half opportunities.
Northampton created several openings early on, but were let down by some poor finishing. Gavin Johnson and Jason Crowe both wasted headers from good positions, while Crowe was just off target from close range, with Eoin Jess inches away from getting a final touch.
Jess and Scott McGleish both had goa bound shots blocked after Andy Marriott made a rare error when mis-punching a cross. But the keeper soon redeemed himself, saving from Crowe and then pulling off a superb reflex save to foil McGleish.
Torquay rarely threatened but James Sharp headed over at the far post from Darren Garner's free-kick.
Torquay came into the game more in the second half and continued to frustrate Northampton.
However, Marriott was again called upon to keep out a drive from Johnson while McGleish headed over from a good position.
The Gulls had one good chance in the 73rd minute when Jo Kuffour had a goalbound shot blocked by Sean Dyche.
But Northampton's pressure finally told in the 81st minute when Andy Kirk broke into the box and when his shot was blocked, Taylor was first to react to score from close range and secure all three points.