What is the difference between soy, regular and skim milk?

all taste different. Regular is what we know as store bought milk. skim milk is a lot less flavor and not all that tasty for drinking water does just as good unless putting it on cereal and personally water taste better than blue water.

soy milk has its own rich flavor and distinctive from real cow milk. do not have all the fat content of the cow milk. I love cow milk best but use soy and almond milk to keep the allergies down. I use some but a lot starts the allergies in a torrent. Seems like hay fever but if in the winter even cold air triggers a coughing fit. Try to not use it at all unless out and unavoidable.

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"taste" varies among individuals, but ggenerally speaking; yes! skim-milk taste less sweetning, but just as filling as reg-milk. while coc9nut/almond/soy/rice/acorn/oat [milks] tatse both less filling{faattening} & less sweetning. they have fewer calories and 60%+ less sugar p/serving than low-fat milk & skim milk.
the taste of some alternative milks can be compared to thaat of grainy/earthy water. imagine the texture of water, with a hint of almond/rice/oat to it.

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Yes, there is a very different taste between dairy and non-dairy milk. As I will not drink dairy milk because of the way the industry treats cows, my faviourite non-dairy milk is now almond.