England won the first game of the four-match series by five wickets thanks to man-ofthematch Ian Bell, who made 75 on his debut.
But Bell scored just five today before lamely driving seamer Tinashe Panyangara to gully in the fifth over of the day.
Panyangara struck again six overs later to remove Michael Vaughan, who played across a straight delivery and was given leg before, but England appeared to back on course with opener Vikram Solanki and Andrew Strauss forging a 63-run stand in 15 overs.
Their partnership was broken by off-spinner Prosper Utseya, who beat Solanki down the legside as he advanced down the pitch, captain Taibu completing a comfortable stumping to end the Worcestershire opener's promising innings of 42.
Strauss followed just three overs later for 33, bowled by off-spinner Gavin Ewing as he rocked onto the back foot to try and cut and Paul Collingwood was caught down the leg-side off leg-spinner Stuart Matsikenyeri.
England's situation could have been even worse had Zimbabwe taken a golden opportunity to run out Pietersen on four when he backed up too far, but Elton Chigumbura's throw flew wide of the non-striker's end and Hampshire's new signing took spectacular advantage.
Zimbabwe's innings began brightly and they enjoyed a 40-run opening stand before losing four wickets in four overs, including two in four balls for Glamorgan seamer Alex Wharf, to effectively end their victory chase.
Only Taibu was able to make any impact, hitting four boundaries in his innings, but once he gave a leading edge and handed left-arm spinner Ashley Giles a simple return catch Zimbabwe's fate was sealed.
