Taylor, 23 has joined the Blades for an undisclosed fee, but isn't expected to become a first team regular despite the expected departure of Kyle Naughton to the Premier League.
"Andy is still young enough to develop and we have been watching him for quite a while. We regarded him as one of the best left-backs outside the Premiership and that is reflected by the fact that we beat several other Championship clubs to his signature." Said Blade boss Kevin Blackwell.