The vector Taylor series (VTS) based method usually employs clean speech Hidden Markov Models (HMMs) when compensating speech feature vectors or adapting the parameters of trained HMMs. It is well-known that noisy speech HMMs trained by the Multi-condition TRaining (MTR) and the Multi-Model-based Speech Recognition framework (MMSR) method perform better than the clean speech HMM in noisy speech recognition. In this paper, we propose a method to use the noise-adapted HMMs in the VTS-based speech feature compensation method. We derived a novel mathematical relation between the train and the test noisy speech feature vector in the log-spectrum domain and the VTS is used to estimate the statistics of the test noisy speech. An iterative EM algorithm is used to estimate train noisy speech from the test noisy speech along with noise parameters. The proposed method was applied to the noise-adapted HMMs trained by the MTR and MMSR and could reduce the relative word error rate significantly in the noisy speech recognition experiments on the Aurora 2 database.