With my experience, having owned both a M&P 9 Pro and a Taurus 24/7 Pro, (yeah, I know they are of different calliber and such) until recently, but like you said, For me the M&P was dead on target and the Taurus was not. For the the Taurus shot several inches low at 15 to 20 yards. And I also shot a friends Taurus Millenium Pro and it shot low for me too.
After this experience, I have the idea in my head that the Taurus pistols shoot low from the point of aim. At least when in my hands they do.
Sorry man, shot a few Taurus models over the past few weeks and they all were hitting point of aim at 20 yards. Their heavy trigger pulls force a lot of folks off target without them knowing it.
As mentioned before, try shooting them from a bench/rest and see if it still shoots low. It is possible (but not likely) that the sights are off.