Lambert has become a Queen star in his own right; touring with the band and even having a cameo appearance in the Freddie Mercury biopic, Bohemian Rhapsody.
The group are the subject of a new documentary film, The Show Must Go On, which airs in the US tonight.
In support of the broadcast, Taylor appeared on Good Morning America this morning, where he was asked what Mercury – who died in 1991 – would have thought of Lambert.
“I think he would have absolutely loved Adam,” Taylor began.
“I think he’d have gone, ‘huh… he can sing.’”
Joking over his efforts to not use an expletive, Taylor quipped: “It’s early in the morning there, so I’d better be polite!” Scroll down for the full video.
Speaking in a preview clip from the film, Lambert had said that it was the “loneliness” that Mercury injected into his songwriting that enabled him to connect with it.
“There’s a few of them [songs] that really hit home from me,” he can be heard saying.
“In learning more about Freddie over the years and learning that there was definitely a loneliness there, I feel like I have enough in common with some of the things Freddie was going through.”
Brian May said of Lambert’s arrival into the fold: “It wasn’t until this young man appeared – I’d call him a gift from God. Adam.
“We didn’t ask for him, we didn’t look for him – he just turned up. And he could do everything.”
They met on the 2009 finale of American Idol, in which Lambert was competing.
May recalled: “The American Idol people asked us to come in and play on the final competition night. So it was between Adam and this other guy [Kris Allen].
“They’re both really good singers, but there’s some kind of chemistry already between us and Adam. It was just instant.”
Queen’s popularity has had another resurgence over the last year, thanks to the phenomenal success of Bohemian Rhapsody.
It won four Oscars after becoming one of the Top 100 highest-grossing movies of all time.