Hawks boss Doswell previously signed Taylor in his time at Sutton United.
Now the 24-year-old links back up with his old boss for a new challenge after spending time on loan at Maidstone United last season.
For Doswell, it was one of those deals that took time, but he's sure it was worth waiting for.
“I’m delighted to have secured Josh’s signing," he told the club's website.
“We’ve had to be very patient on this one because he has had many clubs to choose from over the summer and we’re really pleased that he has chosen us.
“He’s played in The National League last year for Maidstone and for Sutton. And we really hope that he can progress to where he wants to get to and that’s the Football League.”