Midfielder Judge has signed a three-year deal and winger Taylor has put pen to paper on a two-year contract at Ewood Park. Both players were out of contract at their previous clubs.
Judge, 24, began his career as a trainee at Blackburn in 2008 but made only two cup appearances for the club and, following loan spells at Plymouth and Notts County, the Irishman made a permanent switch to Meadow Lane in January 2011.
He made a total of 106 appearances for the Magpies and scored 17 goals.
Taylor, 26, made his debut for hometown club Oldham in 2006 and went on to make nearly 300 appearances before joining Millwall on a free transfer last summer. He featured on 26 occasions for the Lions last season and scored three goals.
Meanwhile, Blackburn midfielder David Dunn has signed his new one-year contract and young professionals Will Beesley, Kellen Daly, Curtis Haley, Darragh Lenihan, Hugo Fernandez, John O'Sullivan, Deniz Pero and Matthew Urwin have all also signed new year-long deals.