Palmer joined the band in 1977 and plays on all their albums and singles apart from their final release, Ten Notes on a Summer's Day.

He played his guitar in an unusual way: his left hand would be sliding over the fretboard while he strummed the strings with his right thumb,[2] using the instrument to produce 'drone' or percussive sounds.

Palmer was also responsible for the artwork for some of the albums released by Crass Records, such as The Eye by Kukl and The Fucking Cunts Treat Us Like Pricks by Flux Of Pink Indians.

[1] He collaborated with former Crass members as part of the 2002 'Voices In Opposition To War' event at the Queen Elizabeth Hall on London's South Bank, performing three songs with Eve Libertine and jazz guitarist Phil Robson.

Apart from this he has chosen not to participate in, nor contribute to, any further Crass related activities or projects, including books and documentaries about the band.