Last Saturday Mourinho sprung to the touchline and shouted at Taylor after becoming annoyed at the referee for urging Branislav Ivanovic to hurry up and take a throw-in when he thought Cardiff had been wasting time all match.
Taylor sent Mourinho to the stands, where he took in the last 20 minutes of the 4-1 win sat alongside some startled Chelsea supporters.
He paid for the outburst on Thursday after he was hit with an £8,000 fine from the Football Association, but there was no touchline ban, so he will be allowed back on the bench for Chelsea's game against Manchester City.
A statement from the FA read: "Chelsea manager Jose Mourinho has been fined £8,000 after he admitted a breach of FA Rule E3 in that his behaviour in or around the 69th minute of his side's game against Cardiff City on 19 October 2013 amounted to improper conduct.
''The fine is the standard penalty for the offence."
The fact that Mourinho will not be banished to the stands for a second consecutive league game is welcome news for the Chelsea squad, who are just starting to find their groove under the Portuguese.
The Blues overcame an early setback to comfortably defeat Cardiff and they followed that win up with a Fernando Torres-inspired victory over Schalke in midweek.
The Spaniard, starting his 100th game for the club, scored twice in Germany while Eden Hazard also got himself on the scoresheet for the fifth time this season.
The Belgian scored 13 times for Chelsea last term and he hopes to find the net for a third successive game this weekend.
"The goal against Schalke was my first in the Champions League and now I hope to score again and again with Chelsea FC," the midfielder told Chelsea TV.
"It was a good goal for me, a good counter-attack for us and it helped that we have good sprinters."
Chelsea will be looking to avenge their FA Cup semi-final defeat to the Sky Blues this weekend.
City denied Chelsea at Wembley with a 2-1 win in April, and the north-west outfit have a good recent record against their rivals.
City are unbeaten in their last five meetings with the Londoners and it is two years since Chelsea beat them at home.