Queiro attended Bergen Catholic High School, where he practiced football, track and basketball.

He had a key fourth quarter interception against Stanford University, helping the team preserve a 16–6 upset win.

He helped secure a 31–24 win against the University of Pittsburgh in the 2016 Pinstripe Bowl, after intercepting a pass with less than 2 minutes left in the game.

He had a critical interception against the University of Kentucky, in the fourth quarter of the 2017 Music City Bowl, to help the team win 24–23.

Queiro was signed by the Dallas Cowboys as an undrafted free agent after the 2018 NFL draft on April 29.

[2] He dropped in the draft because his 40-yard dash time was considered slow compared to other defensive backs, so he was also tried at outside linebacker during training camp.