The defender tripped Tottenham Hotspur striker Emmanuel Adebayor in the 40th minute and despite taking his time to make a verdict, Probert eventually pointed to the spot.
Taylor, who has no complaints over the penalty which Rafael van der Vaart converted, also praised his teammate's ability to battle back on two occasions to claim a share of the spoils at St James' Park.
"I think it was a penalty, I made contact and I'm disappointed with that," Taylor said on Sky Sports News.
"But credit to the lads, we came back and it was fully deserved.
"There's determination and a winning mentality in the squad and today that showed."
The draws means that the Magpies remain unbeaten in the Premier League this season.