Queiroz was born in Aracati, in the state of Ceara, into a family of Portuguese-Dutch descent;[1] When he was four years old, his father took him to see The Martyr of Golgotha, a play by Enrique Pérez Escrich, awakening his vocation.

Deciding to pursue an artistic career, at the age of fourteen he joined the Teatro Experimental de Arte, an important company in Ceará.

Among the telenovelas in which he participated, there are: O Bem-Amado, both in the 1973 and in the 1980 series versions, where he became notable with the character Dirceu Borboleta; Pai Herói (1979); Cambalacho (1986); As Filhas da Mãe (2001); Senhora do Destino (2004), among others.

[4] The actor also had significant participation in miniseries such as Tenda dos Milagres (1985), by Aguinaldo Silva and Regina Braga, based on the work of Jorge Amado; Abolição (1988), by Wilson Aguiar Filho and Walter Avancini; Tereza Batista (1992), by Vicente Sesso, based on the novel by Jorge Amado; Um Só Coração (2004), by Maria Adelaide Amaral and Alcides Nogueira; and Hoje é Dia de Maria (2005), by Luís Alberto de Abreu, as the devil Asmodeus.

[5] In late September 2024, Queiroz was hospitalized at the São Vicente da Gávea Clinic in Rio de Janeiro and had three stents inserted into his heart.