The 53-year-old is leaving the role after two years of service and will be installed as bishop towards the end of the year.
Ven Worsley served as a parish priest in some of Nottingham's poorest areas for twelve years before working for the Diocese of Southwark, where she was appointed Honorary Chaplain to Queen Elizabeth - a position she now has to give up as bishop.
She was then made Archdeacon of Wiltshire in 2013.
The mother-of-three said: "I am surprised and amused to be chosen as the next Bishop of Taunton as I grew up in a non-conformist church where women held no roles of leadership.
"I am delighted to be heading to Somerset to join the diocesan team in this wonderful part of the world, moving 'next door' as it were.
"It will be a great privilege to meet and serve everyone who lives and works in the county."
