He was the son of Charles Hayter (1728–1795), an architect and builder from Hampshire,[3] and his wife, Elizabeth Holmes.

He first trained with his father, but showed an inclination for drawing by producing some small pencil portraits, principally of family members.

He was enrolled in the Royal Academy Schools in London in 1786 at the late age of about 25.

He exhibited 113 portrait miniatures between 1786 and 1832, principally at the Royal Academy, and had a reputation for creating a good likeness.

He also dedicated to her his book An Introduction to perspective, adapted to the capacities of youth, in a series of pleasing and familiar dialogues, first published in 1813 in London.