He was the son of Henry Austin and Jane Olivia (Day) Palmer, and his mother was the daughter of Sherman Day, granddaughter of Yale President Jeremiah Day, and the great-granddaughter of American founding father Roger Sherman, meaning that Palmer was Sherman's great-great grandson.
In 1889, he joined the Division of Economic Ornithology and Mammalogy of the United States Department of Agriculture under Clinton Hart Merriam.
He became interested in the legislation affecting wildlife, leading a branch of the organization to deal with it from 1902 to 1910 and from 1914 to 1916.
He wrote the preliminary draft of the treaty for protection of birds migrating between Canada and the United States (1916), and was Chairman of the Committee which prepared the first regulations under the Migratory Bird Treaty Act (1918).
Palmer was a member of about 25 North American and 4 foreign scientific or conservation organizations.