Mr Taylor supported a march against knife crime in central London in 2008 attended by thousands of young people and led by the Ben Kinsella Trust.
The trust was founded by former EastEnders actress Brooke Kinsella, whose 16-year-old brother Ben was stabbed to death in Islington.
She said Mr Taylor’s courage had been an inspiration.
“After the horrific loss of his son Damilola, he chose to channel his pain into a fight for a safer future.
“He turned tragedy into a relentless determination to keep other families from experiencing the same heartbreak.”
A spokesperson for the Metropolitan Police paid tribute to Mr Taylor on X.
“His work to improve the lives of young people in London in memory of his son Damilola is a fitting tribute and legacy that will continue,” the post said.
Harriet Harman, former Labour minister and MP for Camberwell and Peckham, also paid tribute to Mr Taylor on X.
She said he “never stopped fighting for other children” to have the chances that his son never had.
Labour Brent Central MP Dawn Butler said her “deepest condolences goes out to the family of Richard Taylor”.
Writing on X, she said: “He was a great man and a dear friend.
“He always had such kind words of wisdom for me. I will miss him. May he rest in eternal peace and may he be reunited with Damilola in heaven.”
Labour MP for Vauxhall Florence Eshalomi said in a post on X: “Uncle Richard was a strong man who held the legacy and light for the Damilola Taylor trust.
“I’m reading through my last message with him where he was reminding me about the work of the trust. He is now at peace with his beloved son and wife.”
https://www.bbc.co.uk/news/uk-england-london-68646602