Robert Nelson was born in Phoenix, Arizona in 1941 and grew up in the Midwest. His early musical education included piano lessons and trumpet, achieving first chair in his high school band. He pursued music education at the University of Nebraska, earning both his Bachelor's and Master's degrees, and continued his studies at the University of Southern California, where he received a Doctor of Musical Arts degree in composition. Nelson joined the University of Houston's music faculty in 1968, eventually becoming Professor Emeritus at the Moores School of Music.

Nelson's diverse career spans composing for film, theater, and commercial venues. He served as musical director for the Houston Shakespeare Festival for fifteen seasons and collaborated with the Festival Mime Troupe at the University of Houston. His operatic works include "A Room With a View" and "Tickets, Please." Additionally, he composed choral works like "Nicholas of Myra: a Choral Triptych" and "The Things We Have–in Memoriam: September 11, 2001."