Taylor put on stands of 42 with Sean Williams (21) and 80 with Tatenda Taibu (41) to help Zimbabwe reach 239-7 in pursuit of Ireland's 238-9 at Harare Sports Club with seven balls remaining.

Zimbabwe had a mini collapse after Taylor was out, losing 3-18, but Elton Chigumbura and Graeme Creamer steered the hosts home.

Kevin O'Brien was the pick of Ireland's bowlers with 2-33.

Earlier, O'Brien hit 73 not out and Paul Stirling made 52 in Ireland's total that was boosted by three last-over sixes.

Prosper Utseya took 2-37 for Zimbabwe.