Born in Trenton, New Jersey, Gibson received a Bachelor of Science degree from the United States Military Academy at West Point in 1970, and a Juris Doctor, magna cum laude, from the Dickinson School of Law, (now known as Pennsylvania State University - Dickinson Law), in 1975.

He was commissioned as a second lieutenant in the United States Army in June 1970 and following completion of airborne and ranger training, he served as an armor officer until October 1975.

Following his release from active duty he continued to serve in the United States Army Reserve and retired as a Colonel, JAG, USAR in 1996.

Gibson was confirmed by the United States Senate on September 23, 2003, and received his commission the following day.

In April 2017, Gibson was reversed by a unanimous panel of the United States Court of Appeals for the Third Circuit after he rejected the claims under the Eighth Amendment to the United States Constitution made by the parents of a mentally ill prisoner who had committed suicide after being segregated into solitary confinement.