Joanna Taylor was born in Perquimans Precinct, North Carolina on July 16, 1686. In 1705 she married William Jeffries. After Jeffries died, Joanna married Thomas Peterson in about 1707. Following Peterson's death, Joanna married clergyman Paul Palmer in 1719. The couple resided near Taylor's mother Juliana Laker in Perquimans. In 1720 Palmer convinced an enslaved man named Sambo to leave Nicholas Crisp's plantation and come live and work at the Palmers. When officials tried to capture Sambo, Joanna Palmer helped Sambo avoid being captured. Although Joanna Palmer was criminally charged for this, the charges were eventually dismissed. She died in Perquimans in 1747.