Taylor-Roberts began in her role as executive director yesterday, following nine years at Red, latterly as joint MD of health alongside Rebecca Fergusson, who is now sole MD.
She is initially part of a team of five, with a sixth hire joining shortly.
Good Relations already works on nutritional health briefs for clients including Manuka Honey, Honest Tea, Subway and farming trade body AHDB.
Taylor-Roberts is tasked with moving the firm into other areas of health. Clients at Red have included Sanofi, Pfizer, Janssen and Boots, although the latter turned to Burson-Marsteller earlier this year.
She said: "Health and wellbeing has relevance to everyone and with the continuing drive towards self-care and self-empowerment in healthcare, there is an ever-growing demand for high-quality, content-led communications that help educate, engage and motivate audiences on issues related to health."