Mr Cameron says that the officers had not actually served a "no-knock" warrant.
The Attorney General adds that the officers' statements that they had announced themselves "are corroborated by an independent witness".
"In other words, the warrant was not served as a no-knock warrant."
According to an arrest report, the narcotics officers had been granted a no-knock warrant, which allowed them to enter the premises without announcing themselves.
Ms Taylor's family says the officers did not declare their presence, making Ms Taylor's boyfriend think that intruders had burst into her apartment.
Police say they actually did announce themselves, and one neighbour told local media she heard them shout "police" before entering her home.
Mr Cameron says he's forming a task force on search warrants in the wake of this case.