Robert Knepper, the son of a veterinarian, was born in Fremont, Ohio and raised in Maumee (near Toledo). When he was growing up, his mother worked in the props department for the community theater, and because of her involvement, he became interested in acting. Knepper spent many years working in community theater and high school productions. Later, he studied drama at Northwestern University.

Knepper made his feature-film debut in Blake Edward's That's Life. Additional feature-film credits include Woody Allen's Everyone Says I Love You, D.O.A., Love and Sex, Wild Thing, Renegade, Young Guns, and Gas, Food, Lodging.

He has made numerous television guest appearances on series such as Law & Order: Criminal Intent, New York Undercover, Star Trek Voyager, ER, L.A. Law, Profiler, and South Beach. He also starred in the television movies Zelda, Getting Out, and the miniseries Jackie, Ethel, Joan: The Women of Camelot.

A resident of Southern California, Knepper's hobbies include building Mission-style furniture and taking long hikes with his dog, Sadie, and his girlfriend.

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