Nelson was born in Baltimore, Maryland, and was appointed naval cadet 19 May 1894; and graduated 2 April 1898.

During the Spanish–American War, he served in New Orleans (CL-22) participating in the blockade and but was absent at the Battle of Santiago de Cuba.

Upon returning to the United States, he worked with the torpedo boat training command.

In January 1929, he was appointed coordinator of the Seattle area, in which capacity he served until he retired as Rear Admiral 30 June 1933.

In 1942, a Gleaves-class destroyer, Nelson (DD-623), was named after him and it fought during World War II