Data interpolation is critical in the analysis of geophysical data when some data is missing or inaccessible. We propose to interpolate irregular or missing potential field data using the relation between adjacent data points inspired by the Taylor series expansion (TSE). The TSE method first finds the derivatives of a given point near the query point using data from neighboring points, and then uses the Taylor series to obtain the value at the query point. The TSE method works by extracting local features represented as derivatives from the original data for interpolation in the area of data vacancy. Compared with other interpolation methods, the TSE provides a complete description of potential field data. Specifically, the remainder in TSE can measure local fitting errors and help obtain accurate results. Implementation of the TSE method involves two critical parameters the order of the Taylor series and the number of neighbors used in the calculation of derivatives. We have found that the first parameter must be carefully chosen to balance between the accuracy and numerical stability when data contains noise. The second parameter can help us build an over-determined system for improved robustness against noise. Methods of selecting neighbors around the given point using an azimuthally uniform distribution or the nearest-distance principle are also presented. The proposed approach is first illustrated by a synthetic gravity dataset from a single survey line, then is generalized to the case over a survey grid. In both numerical experiments, the TSE method has demonstrated an improved interpolation accuracy in comparison with the minimum curvature method. Finally we apply the TSE method to a ground gravity dataset from the Abitibi Greenstone Belt, Canada, and an airborne gravity dataset from the Vinton Dome, Louisiana, USA.