Born in Antonibe, Sofia Region, Rajakoba studied teaching at Antananarivo University.
[1] He became a professor before being appointed Minister of the Civil Service, Labour, and Social Laws by President Gabriel Ramanantsoa in 1972, a post he held until Didier Ratsiraka seized power in 1975.
[1] On August 3, 2001, the Isika Miara-Mandroso (Imima) association announced that it was presenting Rajakoba as a candidate in the December 2001 presidential election.
[4] Rajakoba returned to Madagascar in that year[1] and received 2.0% of the votes in the election.
[5][7] In 2011, Daniel Rajakoba openly criticized Andry Rajoelina's regime, calling it a new form of organized colonialism.