Robert Selby Taylor CBE OGS (1 March 1909 – 23 April 1995) was an Anglican bishop in the 20th century. Selby Taylor was educated at Harrow and St Catharine's College, Cambridge. Ordained in 1933, his first post was a curacy at St Olave's Church, York. He then emigrated to Africa to become a Missionary Priest in the Diocese of Northern Rhodesia, rising to become principal of its diocesan theological college and then in 1951 bishop of the diocese. Translated to Pretoria a decade later and Grahamstown in 1959 he was appointed Archbishop of Cape Town in 1964. Ten years later he announced his retirement but in 1979 he was petitioned to return to a part of his first diocese and serve as Bishop of Central Zambia.