Medium-pace bowler Taylor has a stiff back and has been advised to rest for four to six weeks, the West Indies Cricket Board (WICB) said in a statement.
Lara was left out of the squad by the board following a contract dispute.
Skipper
Lara, vice captain Ramnaresh Sarwan, Chris Gayle, Dwayne Bravo, Dwayne Smith, Fidel Edwards and Ravi Rampaul have personal sponsorship deals with Cable and Wireless, meaning a potential clash with West Indies' main sponsor Digicel.
Digicel's five-year agreement is worth about $20 million and is the biggest in West Indies history.
Shivnarine Chanderpaul will lead the team in the first Test in Lara's absence.
