Took is the simple past tense, whereas taken is the past participle.
This means that you can say took on its own, e.g.
I took the cake,
but you have to have an auxiliary (helping) verb with taken, e.g.
I have taken
In your case the second example is correct, as your verb is in the conditional perfect which requires an auxilliary ('having' in this case,) therefore the past participle (taken) is necessary.
Also, not only is
I would have jumped in there and took the monkey out
gramatically incorrect, it sounds wrong as well.
See http://www.ecenglish.com/learnenglish/lessons/simple-past-or-past-participle for more information on the difference between the past tense and the past participle