Hurt was born on 22 January 1940 in Shirebrook, Derbyshire. Hurt was married to Annette Robertson from 1962 until they divorced in 1964. He was married to Donna Peacock from 1984 until they divorced in 1990. He was married to Jo Dalton from 1990 until they divorced in 1996. He married Ann Rees Meyers in 2005. Hurt had two sons with Dalton.