The memorable stand between Bancroft and Taylor frustrated Kent just as they appeared to be taking control.
At 274-9 in their first innings, Gloucestershire appeared to have thrown away the strong position built by openers Bancroft and Dent with their partnership of 141 after the visitors had won the toss and elected to field.
But out marched Taylor to eclipse his previous best score of 32 not out, made against Essex at Chelmsford back in 2014.
Crucially, he was dropped in the slips by Sean Dickson early on, an error which cost Kent dear. From then on Taylor and Bancroft batted without alarm on what looked a docile pitch for all but the new ball bowlers.
Their stand comfortably exceeded Gloucestershire’s previous best last-wicket stand against Kent, the 76 put together by Tom Smith and Liam Norwell at Canterbury in 2014.
It also gave the home side momentum and Josh Shaw’s impressive spell at the end of day two built on it before Joe Denly and Sam Northeast launched a determined Kent fightback on day three.
Both passed 50 and 1,000 first class runs for the season before departing as the contest swung one way, then another.
Norwell bowled well without luck on the third morning and the visiting batsmen were made to fight for every run.