He was educated in Merchant Taylors' School, and entered St John's College, Oxford, of which he became a fellow.
1659, was elected fellow of the London College of Physicians 1674, and was subsequently several times censor.
In the mid-1640s Brooke was living in the home of William Walwyn, whose daughter he married, in Moorfields, London.
Brooke was the author of A Conservatory of Health, comprised in a Plain and Practical Discourse upon the Six Particulars necessary for Man's Life, London, 1650, and also a book of paternal advice, addressed to his children, under the title of The Durable Legacy, London, 1681, of which only fifty copies were printed.
It contains 250 pages of practical, moral, and religious directions, couched in a simple Christian style.