He will work alongside Chris Baylis, the existing executive creative director, and report to Shaun McIlrath, the joint global chief creative officer.
Taylor joined Iris five years ago and worked on the Robinsons "#GetSquash’d in zero gravity" ad, for which Framestore, the visual-effects company, prepared the drink in zero gravity.
McIlrath said: "Andy has been doing a fantastic job and has been behind a lot of our big wins and best work. He and Chris are already a strong team.
"We remain ambitious, restless and really excited about the capabilities of the talent we have here."