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On 9 May 2013, Taundry was released by Walsall along with George Bowerman, Connor Taylor, Aaron Williams and Jake Jones.

Taundry joined local club Pelsall Villa on 5 August 2013 in a bid to keep fit whilst on the lookout for a new club. He registered as a player, allowing him to play in competitive matches for the Midland Combination Premier Division club. His first appearance came as a second-half substitute in a 3–1 loss to Bolehall Swifts on 7 August. He scored his first goal for Pelsall Villa on 22 August 2013, the winner in a 4–3 victory against Coventry Copsewood. He scored again for the club in a win against Pilkington XXX.

In September 2013, following his period at Pelsall Villa, Taundry signed for Conference North side Worcester City, joining up with former Walsall teammate Aaron Williams. He went on to make a total of 26 appearances for Worcester in the 2013–14 season, 17 of which came in the Conference North. He also scored once for the club, in a 4–0 home win over Coventry Sphinx in the FA Cup on 28 September 2013.

He was offered a new contract by the club on 10 May 2010. Taundry signed a new one-year contract with Walsall on 6 July 2012.

During the 2008–09 season, Taundry had a new manager to impress, Jimmy Mullen, who replaced Money, who quit the club towards the end of the 2007–08 campaign.

Taundry made the break through into Walsall's first team during the 2007–08 campaign where manager, Richard Money handed him his debut after coming on as a late substitute for Ishmel Demontagnac in the 82nd minute against Luton Town on 17 November 2007. He then went on to make 22 league and cup appearances for the club in a number of positions including left back and central midfield.

Taundry failed to break into the first team during Walsall's title winning 2006–07 season, however he was involved in the youth team's success, despite suffering injuries which kept him out for the majority of the season. Walsall youth team managed to complete an impressive league and cup double.

Richard Daniel Taundry (born 15 February 1989 in Walsall, England), is a professional footballer who last played for National League North side Leamington, where he played as both a defender and a Midfielder. He is perhaps best known for making 192 appearances for Walsall, the club at which he started his career.