Born and raised in Philadelphia, Pennsylvania, Robert Picardo graduated from the William Penn Charter School. He entered Yale University as a pre-med student, not knowing that he would someday portray doctors in three separate productions: first as Dr. Dick Richard on the ABC series China Beach, then as Dr. McCaskill in the theater production In The Waiting Room at the Mark Taper Forum, and then as The Doctor on Star Trek: Voyager.
After graduating from Yale University Robert wanted to be an actor, but his parents weren't supportive. This changed when he sang in Leonard Bernstein's Mass, and Bernstein himself saw Picardo and told him he should pursue being an actor. The young Picardo asked Bernstein to tell that to his parents, which the great composer did, thereby changing their minds. In 1997 he made his Broadway debut in the comedy Gemini with Danny Aiello.
In the early 1980's he became involved in television, where he soon was nominated for an Emmy award for his role as Mr. Cutlip on the acclaimed series The Wonder Years. Following The Wonder Years he has had much success on television, he starred as Dr. Richard on China Beach and then played The Doctor on Star Trek: Voyager for six seasons. He finished up starring in Stargate Atlantis in 2009 as Richard Woolsey.
Currently he is starring in various online films for Acme Brand Comedy.
Bob resides in Los Angeles with his wife, Linda, and their two daughters.