Edmund Taylor's sister, Catherine, married Moses Penn. Their only child, John Penn, born in 1741 was an attorney in Caroline and later moved to Granville County, North Carolina. He served in the Continental Congress for six years and signed the Declaration of Independence from North Carolina. Edmund's brother James married Anne Pollard and they were the parents of Lt. Col. John Taylor "of Caroline", a member of the Virginia House of Delegates, a U.S. Senator, writer and ally of Thomas Jefferson. Lt. Col. John Taylor married John Penn's daughter Lucy. Both Penn and Lt. Col. John Taylor had studied law under Edmund Pendleton.