Taylor, 23, has made 40 appearances for the Warriors since his debut back in 2011.
Panthers football manager Phil Gould declared Taylor was a "marquee signing" for the club.
"He has been specifically targeted by the Panthers, not only for his elite footballing talent, but also based on his tremendous character and leadership qualities which will assist Panthers in our broader community objectives," Gould said in a club statement.
“Elijah is a highly motivated individual with a passion for using the profile he develops through professional sport to make a difference in other people's lives.
"Elijah is a wonderful acquisition for our club and our community."