Robert Gray grew up in Coffs Harbour, leaving school to become a journalist on a rural newspaper. After moving to Sydney soon afterwards, he worked as a mail sorter and bookseller, and wrote for a magazine and an advertising agency. He later reviewed poetry for the ABC and the Sydney Morning Herald.
Gray was writer-in-residence at Geelong College in 1982, followed by the University of New England in 1983, Meiji University, Japan, in 1985, and the University of Western Australia in 1990. He was awarded the Patrick White Award in the same year. His writing has been supported through numerous fellowships from the Literature Board of the Australia Council for the Arts. In 1981 Gray was awarded the Marten Bequest Travelling Scholarship to the USA.
Gray is highly regarded by his fellow poets. The Oxford Companion to Australian Literature quotes Les Murray, who has said that Gray has "the best eye in Australian poetry". Gray's poems are of varied length and form, and his work is noted for its accessibility. His poems frequently explore the details of particular landscapes and the human figures who inhabit them, as well as reminiscences from the poet's childhood.