The 30-year-old centre-half was a key figure in last season's promotion-winning team but has hardly figured this term.
However, an injury to Leon Cort and Dorian Dervite's suspension meant Taylor was handed his first Championship start against Blackpool on Saturday.
And Taylor put in an all-action performance, clearing a Kevin Phillips header off the line, seeing his own effort blocked at the other end and needing a bandage round his head as the Addicks ran out 2-1 winners.
"It's been a while coming," he said. "I got injured early in the season and spent some time out, and that was frustrating, battling to improve my fitness and get games.
"I played two under-21 league games and I must have been fit for a good few months now. In that amount of time, that's not enough games.
"When you are a footballer, you want to play games. It's been frustrating but I've waited patiently and have an opportunity now."