David Richardson was born in Townsville, Queensland, but spent most of his childhood in England in North Devon and then the Midlands where his father worked as a priest.

He then returned to St Barnabas’ College as sub-warden where he taught New Testament studies, liturgy and pastoral care and spirituality until 1982.

As dean, he led a multimillion-dollar public appeal to restore the cathedral's spires and improve the interior of the building.

His contribution is commemorated by the stone sculpture of his head by Melbourne artist Smiley Williams on one of the cathedral's spires.

In December 2007, Richardson was appointed as the representative of the Archbishop of Canterbury, Rowan Williams, to the Holy See and the director of the Anglican Centre in Rome.