A native of Prairie View, Texas, Booker was a reliable bass player and an underrated stylist.

After that, he recorded and toured with Ray Bryant, Betty Carter, Chick Corea, Stan Getz, Art Farmer, Milt Jackson, Thelonious Monk and Sonny Rollins, before joining the Cannonball Adderley Quintet in 1969, starting an association which lasted until Adderley's death in 1975.

During the same time, Booker designed, built, and ran the Boogie Woogie Studio in NYC, a mecca for musicians from all over the world, and through the 1980s, he played and recorded with Nat Adderley, Nick Brignola, Arnett Cobb, Richie Cole, John Hicks, Billy Higgins, Clifford Jordan, Pharoah Sanders, Sarah Vaughan, and Phil Woods.

Booker was married to the pianist Bertha Hope with whom he played in a trio that included drummer Jimmy Cobb.

With Nick Brignola With Ray Bryant With Donald Byrd With Junior Cook With Art Farmer With Ricky Ford With John Hicks With Ronnie Mathews With David "Fathead" Newman With Harold Vick