Born in Jaén, Spain, it is agreed that Vela studied the first principles of painting in Córdoba, Andalusia, under Pablo de Céspedes.
At the end of his education, Vela worked with two art dealers in Seville, Carlos Atabante and Juan de Quintanilla.
In Priego, he married Catherine Garrido and had a son, Antonio Vela Cobo (1629-1675), who became a painter, sculptor, and gilder.
In 1645, he was commissioned to complete altarpiece paintings of the Mosque–Cathedral of Córdoba after winning a competition alongside Antonio del Castillo y Saavedra.
Other famous works of his include the upper choir of San Agustín de Córdoba, which follows the iconographic style of Francisco Pacheco and his prophet series for the convent of St. Augustine.