He was born in County Limerick, Ireland, where his parents, Garret and Elizabeth (née O'Dwyer) Joyce, lived in the northern foothills of the Ballyhoura Mountains, west of Ballyorgan.
[citation needed] Robert Joyce became a civil servant and succeeded his brother Patrick as principal of the Model School, Clonmel.
To finance his studies he contributed poems, stories and articles to a number of periodicals, including the Nation and the Harp.
Disappointed with the results of the 1866 Fenian rising in Ireland, [clarification needed] he emigrated to Boston, where he practised medicine.
His poem "The Battle of Benburb" commemorating a victory of Owen Roe O'Neill in the Irish Confederate Wars was later set to music as a popular ballad.