The centre-back has heaped praise on the Leeds defender.
Taylor returned from injury at Loftus Road and Cooper was impressed that the 22-year-old looked like he hasn't missed any football at all, although he has been out for an extended period.
And Cooper is delighted Taylor has returned, expressing his disappoinment that Leeds couldn't give the left-back a win upon his return.
Cooper told BBC Radio Leeds: "As you can see, Charlie's performances at the start of the season were brilliant.
"He's come in today and he hasn't even looked like he's been out for that long. It's amazing, he's not even had any football. I'm delighted for Charlie, I wish we could have got a result for him today."
Leeds boss Steve Evans was also full of praise for Taylor after his side's 1-0 loss to Queens Park Rangers and who wouldn't be?
The head coach suggested Taylor was one of just three Leeds players who don't deserve criticism after their latest defeat but that in itself highlights the Whites' overall problem.
Leeds face Hull City next in the Championship and they will need a real team effort if they are to avoid yet another defeat.
The Yorkshire side currently sit 17th in the league table but Taylor's return no doubt provides a big boost for the Elland Road outfit.