He enjoyed a successful spell at the club last season.
The 30-year-old enjoyed a successful spell at the Croud Meadow last season making 43 appearances for the club.
“Shrewsbury were fortunate to get him on loan last season and he was a player that stood out for me because of his energy, his physicality and his ability. He is a front-footed midfield player who I believe Town fans haven’t seen the best of yet so I’m really excited to work with him. And according to the club's director of football Micky Moore, Taylor picked him out during the interview process as a player he thought very highly of.
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