Nauman was born in Fort Wayne, Indiana, but his father's work as an engineer for General Electric meant that the family moved often. He studied mathematics and physics at the University of Wisconsin–Madison (1960–64), and art with William T. Wiley and Robert Arneson at the University of California, Davis (1965–6). In 1964 he gave up painting to dedicate himself to sculpture, performance and cinema collaborations with William Allan and Robert Nelson. He worked as an assistant to Wayne Thiebaud. Upon graduation (MFA, 1966), he taught at the San Francisco Art Institute from 1966 to 1968, and at the University of California at Irvine in 1970. In 1968 he met the singer and performance artist Meredith Monk and signed with the dealer Leo Castelli. Nauman moved from Northern California to Pasadena in 1969. In 1979, Nauman further moved to Pecos, New Mexico. In 1989, he established a home and studio in Galisteo, New Mexico, where he continued to work and live with his second wife, the painter Susan Rothenberg until her death in 2020. Nauman has two children, Erik and Zoë, with his first wife, Judy Govan, and he also has two grandchildren.