Robert Goodnough was born in Cortland, New York in 1917. He earned his B.A. degrees from Syracuse University, Ozenfant School of Fine Art, and Hans Hoffman School of Fine Art, and an M.A. from New York University. While in the Army, he worked as a technical artist to create information and training manuals, and also did portraits and murals.

He taught art at New York University; Fieldson School, Cornell University and Skowhegan Art School. He has exhibited internationally, and his works are included in various private and public collections.