Do I have to pay Colorado income taxes if I have been taxed in Utah I live in CO and work full time in Utah

You have to report the income you received as a Colorado resident and pay taxes on that income.  However, since you worked in UT and paid UT taxes on the UT income, you will receive tax credit on your CO state tax return for the UT tax paid.  This prevents dual taxation on the same income.

Using TurboTax you will need to enter Colorado as your resident state.  You will also have to indicate that you made money in another state, indicating Utah.  You need to complete the Utah non-resident tax return before you complete the Colorado state tax return so that the Utah taxes paid will flow to the Colorado return.