Taylor's sermons on Christian history were controversial for challenging the established doctrines of the Church of England, and for introducing topics hitherto deemed blasphemous.

Armed with years of scholarly experience and a keen eye for insight, Taylor tackles his subjects with energy and vigor. He preached at the Rotunda of Blackfriar's Road from 1830 to 1832, a time when the church still wielded power and crimes of heresy and blasphemy were still on England's statute book. The unprecedented topics of astrology and astronomy in Taylor's sermons led to him running afoul of these laws; he was twice sentenced to jail for voicing his explanations of the Bible.

Formerly a doctor, Robert Taylor took up vows as a preacher following a period of study of antiquity. He was convinced that the Holy Bible was founded upon principles of ancient astronomy, astrology, and beliefs with origins in ancient Greece, Egypt and elsewhere. This differed from the orthodox opinion - that the Bible was the word of God received directly from the Lord - and as such Taylor became infamous for attracting the ire of church authorities.

For his alternative take on established subjects, and lively yet insightful style of sermonizing, Robert Taylor's works remain popular in the modern day.