Reverend Robert Taylor (18 August 1784 – 1844), was an early 19th-century Radical, a clergyman turned freethinker. His "Infidel home missionary tour" was an incident in Charles Darwin's education, leaving Darwin with a memory of "the Devil's Chaplain" as a warning of the dangers of dissent from Church of England doctrine.
He was the sixth son of John and Elizabeth Taylor, born at Walnut Tree House, Edmonton, Middlesex, on 18 August 1784. His father, an ironmonger in Fenchurch Street, London, died when he was young, leaving him under the guardianship of his uncle, Edward Farmer Taylor of Chicken Hall, Bridgnorth, Shropshire. Having been at school under John Adams at Edmonton, he was articled as house pupil to Samuel Partridge, then house surgeon at the Birmingham General Hospital. In Birmingham Taylor underwent a religious conversion, after hearing Edward Burn preach.
In 1805 Taylor continued as a medical student, walking Guy's and St. Thomas's hospitals in London under Sir Astley Paston Cooper and Henry Cline, and was admitted a member of the College of Surgeons in 1807. Under the influence of Thomas Cotterill, perpetual curate of Lane End, Staffordshire, he decided to study for the church.
Taylor studied at St John's College, Cambridge for three years to qualify as a clergyman. At that time the University of Cambridge was dominated by the established Church of England and most students were preparing for positions in the Anglican church. The Revd. Charles Simeon got Taylor his first curacy, but five years after ordination Taylor abandoned orthodox Christianity for evangelism and then eccentric anti-clericalism.