The Taylor expansion of lambda-terms, as introduced by Ehrhard and Regnier, expresses a lambda-term as a series of multi-linear terms, called simple terms, which capture bounded computations. Normal forms of Taylor expansions give a notion of infinitary normal forms, refining the notion of Böhm trees in a quantitative setting. We give the algebraic conditions over a set of normal simple terms which characterize the property of being the normal form of the Taylor expansion of a lambda-term. From this full completeness result, we give further conditions which semantically describe normalizable and total lambda-terms.