Taylor was a 26-year-old EMT.
Taylor was shot eight times in her Louisville home on March 26.
Police were there as part of a drugs bust.
They used a "no-knock" warrant, which means they were not required to identify themselves before entering her home.
An attorney for Taylor's boyfriend, Kenneth Walker, said Walker fired a shot as a warning to the officers.
Kentucky's attorney general said the three police officers fired 26 shots.