Born in Vigan in the Philippines (at the time still a Spanish possession), Xaudaró's family, of Aragonese origin, settled in Barcelona in 1883.

He began his career drawing for Madrid Cómico, La Saeta, Gedeón, and Barcelona Cómica, a Barcelona-based humor magazine of the 1890s, occasionally utilizing the pseudonym J. O'Raduax ("Xaudaró" spelled backwards).

His daily vignettes for ABC brought him fame, with each one containing a trademark little dog that soon became known as "el perrito de Xaudaró."

His book illustrations include those commissioned by the Paris publisher Ollendorff (Les conteurs joyeux), and famously, those utilized for Juan Pérez Zúñiga's Los viajes morrocotudos ("The Fantastic Voyages").

At the end of his life, he founded, with Antonio Got and K-Hito, the Sociedad Española de Dibujos Animados (SEDA) in 1932.