Richard was born around 1045 to Drogo of Hauteville, a Norman adventurer and count, and Altrude of Salerno, a Lombard princess.
On his father's death in 1051, he was too young to succeed, and his uncle Humphrey was elected count instead.
Richard was present with Guiscard at the fall of Bari in April 1071 and fought strongly against his rebel cousins and their allies between 1078 and 1080, when Abelard died.
For his support, Richard was confirmed as count of Castellaneta, Oria, and Mottola by his uncle.
In 1101, Richard was appointed seneschal of Apulia and Calabria by the Guiscard's son and successor, his cousin, Roger Borsa.