Born and raised in Mandan, North Dakota,[1] Peterson first obtained a degree in theater from the University of Minnesota before becoming a professional actor with the first Federal Theatre Project.

In 1960, he appeared in the episode “The Peace Officer” (S6E6) in the TV Western Gunsmoke, as well as in 1961 as Sam Frazer in “A Man A Day” and in 1966 as a drunk in “Champion of the World”.

He also co-authored with June August, a one-man show titled Robert Frost: Fire and Ice, based on the life and works of the famous poet.

[4] After the premiere of the one-man show at the Pasadena Playhouse Interim Theatre, Peterson spent 1981 to 1991 touring the United States with the Robert Frost piece, which alternated with a Pasadena Playhouse production of The Gin Game, performed with his wife Norma, (a play previously performed on Broadway by Jessica Tandy and her husband Hume Cronyn).

During Arthur's residency at George Mason, he met David Arrow, who was instrumental in bringing Robert Frost: Fire and Ice off-Broadway, where it played during the summer of 1984.