Taylor was arrested in May at a suburban New York hotel. He was accused of having sex with a 16-year-old prostitute who turned out to be a Bronx runaway.
He previously had pleaded not guilty to third-degree rape, patronizing a prostitute, sexual abuse and endangering a child.
He had been resisting a plea deal for months.
Taylor led the New York Giants to Super Bowl titles in 1987 and 1991.