R. G. Hay's father was a coalminer from Scotland, and his mother (nee Harry) was from Victoria, where the family, of Cornish and Welsh origin, had also been connected with mining. R. G. Hay was educated at Gympie and Rockhampton High Schools, and following a course at the then Queensland Teachers College in 1951, truncated to one year because of the teacher shortage, and fourteen weeks national service training, he began teaching at Yeppoon. Later, he also taught computer science and mathematics at the University College of Rockhampton.
Hay's poetry has appeared in numerous journals and anthologies, and he has also co-edited collections of poetry. Much of his poetry is written in the lyric form, often exploring different landscapes, and aspects of personal relationships.
