He said: "I thought we got away with murder, to be honest," Taylor admitted after the 1-1 draw. "Torquay played much better than us and if they had scored 2 or 3, they would have deserved it."
It was Taylor's tactical decision to take off leading scorer Danny Allsop in the 70th minute and push winger Stuart Elliott up front that paid off big time.
Eight minutes later, the Northern Ireland international fired his 6th goal of the season into the top right-hand corner to take a point that Hull hardly deserved.
Five minutes later, Elliott should have won it. Through on goal with only Torquay keeper Kevin Dearden to beat, Elliott's shot hit Dearden and he scooped the rebound just wide.
Torquay boss Leroy Rosenior said: "We should have been out of sight before they equalized. Our performance was terrific, but it's all about winning."
Torquay lead from the seventh minute through leading scorer David Graham. The former Rangers starlet curled a brilliant 20-yard shot into the top left hand corner for his 9th goal of the season.
Jo Kuffour hit the post with a header to underline Torquay's first-half superiority. Graham missed three good second-half chances, while Kuffour and Kevin Wills also went close. But those missed chances were punished by Elliott's equaliser.
The result stretched Hull's unbeaten run to 13 league and cup games, while Torquay remain on the fringe of the promotion race.
"It was a wake up call for us," added Taylor. "Our performance was down on recent weeks, but Torquay are a very good, well organised team and I don't want to take anything away from them."