The pilot reported that, as he was taxiing from the fuel station to his hangar, he taxied north, and then turned left onto taxiway delta, at which point his airplane collided with another airplane. He reported that he had not seen the other airplane. The pilot of the other airplane reported that, after landing, he was taxiing to the fuel station on the same taxiway. While taxiing, another airplane entered the taxiway and then collided with the left side of his airplane. A video recording from a security camera located on an airport office building showed that the other airplane entered taxiway delta without yielding to the airplane that was already taxiing on the taxiway. The airplane already taxiing on taxiway delta sustained substantial damage to the left wing and rudder. Both pilots reported that there were no mechanical malfunctions or failures with either airplane that would have precluded normal operation.