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A mistake from Matty Sparrow allowed Northern Ireland international Stuart Elliott to equalise for the Tigers, but the referee's decision dominated the post-match complaints from the visitors.
Taylor told the Hull Daily Mail: "I told the referee what I said to the Mail in that it was a harsh decision at the time and even harsher after watching the video.
"He said he could understand that and I could pass that on to the press.
"In some ways, it does make me feel better and I respect him for coming out and saying that.
"The ones who don't look at videos and who say they don't make mistakes are the ones you don't respect.
"I know it doesn't change the result. We did make a couple of changes after the decision went against us and we got a goal.
"You never know, that might not have happened if it hadn't been for the penalty. It might have finished 0-0."
The 1-1 draw was the second Humber derby of the season, with United having previously won 3-1 at the Kingston Communications Stadium in a LDV Vans Trophy match.