Vaugh's father, Gerald Vaughn, was a radio actor who appeared in the 1949 films Jigsaw and ‘C’-Man. Vaughn’s mother, Marcella Gaudel, was a successful stage actress.
Vaughn’s first credited movie role came in 1957, in the film Hell’s Crossroads. He played Bob Ford, a man who became famous for assassinating the legendary outlaw, Jesse James.
Robert Vaughn’s first notable film came in 1959; his appearance in The Young Philadelphians earned him a nomination for Best Supporting Actor from Academy Awards and Golden Globe.