The 37-year-old's final season as a player was at Wasps, in the 2012/13 campaign, before he joined Dai Young's coaching staff.
Wasps' backline has improved significantly in the two years Jones was the attack coach and Scarlets summer signing Taylor, who worked with Jones at the now Coventry-based club, believes his new side have pulled off a real coup.
Taylor told the Llanelli Star: "The way Wasps played last year you could see that the backs were scoring tries for fun. That was down to Steve's work really.
"Steve is a very good coach and he makes sure the boys know their roles. He's always available if the boys need any additional help after training; he's also good for the young boys.
"The step from player to coach can be difficult but he handled it really well. The boys really enjoyed having him as a coach and they were pretty gutted he was going. Wasps' loss is Scarlets' gain."
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