The 66-year-old was previously Magpies boss for a short stint in 2008-09 and his appointment as the club’s new director of football has pleased the centre-back
The 66-year-old was confirmed in the role on Tuesday, penning a three-year deal to seal a return to the club he manager for a spell during the 2008-09 season before leaving his positive due to illness.
The announcement led to criticism from Newcastle supporters, prompting Kinnear to defend his position with a gaffe-strewn rant during a radio interview - but Taylor is confident Kinnear can help the club after a relegation-threatened season.
"I am really happy to see Joe back at the club, and I think his return can only be positive for everyone connected to the club," he told Sky Sports.
"Joe was great for me when he was manager, and I really enjoyed playing for him. We were in a great position under Joe in the league until he got ill, and it was after that [Newcastle were relegated].
"Joe wears his heart on his sleeve, and he tells it as it is, and I think he is someone that Newcastle exactly need.
"Joe has lots of experience, and he is very knowledgeable, and I for one am really excited to see him back at Newcastle."