The Chelsea defender was assessed by England medical staff who decided he will not be fit to take part in Friday's match.
He will be reassessed later in the week with a view to the second of England's two qualifiers, against Montenegro on Tuesday.
Taylor will link up with the squad in place of Cahill, who joins Michael Dawson, Rio Ferdinand and Phil Jagielka on the injury sidelines.
Boss Roy Hodgson's options at centre-back are Steven Caulker, Joleon Lescott, Chris Smalling and now Taylor.
Taylor said: "I am so happy to have received a call-up to the full squad. It's every player's ambition to represent their country."
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