Robert Joseph Curran was born on August 31, 1934 in St. Louis, Missouri. Robert married Mary Ward on September 1, 1969 and they had three children: Kathlees (1970-06-29), Elizabeth (1973-08-26), and Patricia (1977-02-14).
Curran obtained a bachelor of arts degree in history and political science from the University of Missouri in 1956. Curran then obtained a juris doctor degree from the University of Missouri in 1962.