Rasheed Davis entered the plea in federal court in Manhattan on Tuesday. Davis had been charged with sex trafficking in connection with the May 6 meeting between Taylor and the girl at a Holiday Inn in Ramapo, about 30 miles northwest of the Bronx.
Taylor has admitted paying a 16-year-old runaway $300 for sex.
He says the girl told him she was 19. The ex-linebacker was ordered to serve six years of probation and register as a sex offender.
Taylor led the New York Giants to Super Bowl titles in 1987 and 1991.