Taylor has been a Toyota brand ambassador since 2010.
The new RAV4, which was unveiled in Toyota dealerships across the country on March 14, will be driven by the Olympic, four-time World and five-time European Amateur Boxing Champion as she progresses her inspirational boxing career and prepares to defend her Olympic title in Rio de Janeiro in 2016.
The advertising campaign features Taylor alongside the RAV4.
The fourth-generation RAV4 features all-new distinctive, sophisticated styling, refined, premium-quality interior design, a new Integrated Dynamic Drive System and fuel-efficient powertrains.
The SUV is equipped with a host of technological features including a reverse parking camera and the Toyota Touch multimedia system, as well as an array of safety features such as VSC, Hill Start Assist Control and seven airbags fitted as standard.
Taylor said: "I'm delighted to be continuing my work with Toyota and am really impressed with the new RAV4.
"I love the new design, which together with the elevated driving position and the huge amount of interior space, makes the new RAV4 the perfect car to get me on the road to Rio in style.
"I'm proud to be featured alongside it in Toyota's new advertising campaign."