The Taurus is primarily armed with a beam rifle and could use a beam cannon when heavier firepower is needed. Like most mass production mobile suits employed by the OZ and the United Earth Sphere Alliance, the Taurus is typically not equipped with any close-range weapons. However, it could be equipped with up to two beam sabers when necessary, as seen with the Sanc Kingdom's units. Additionally, the Taurus, even the mobile doll version, could fight enemy units in close combat with its limbs like any mobile suit. After the White Fang began producing the Virgo II, the OZ's Taurus was armed with laser gun as a countermeasure to the Virgo II's planet defensors.

When used by factions other than OZ, the Taurus has slightly altered designations and color schemes; SK-12SMS for the Sanc Kingdom's units painted in white with red accents and WF-12SMS for the White Fang's unit painted in mostly reddish brown. The Tauruses used by the Mariemaia Army retain the default OZ color scheme and designation.