Tucker was born in Bermuda, and educated at College of William & Mary, where he studied law under St. George Tucker. After practicing law in Richmond, Virginia he moved to Lynchburg, Virginia. He served in the United States House of Representatives from 1819 to 1825, representing Virginia in the 16th, 17th, and 18th United States Congresses. In 1827 he wrote the satire A Voyage to the Moon using the pseudonym "Joseph Atterley." It is considered by some to be the first American work of science fiction.
Tucker was appointed by Thomas Jefferson to be Professor of Moral Philosophy at the University of Virginia. In 1845 he resigned from the University and moved to Philadelphia, Pennsylvania. He died from injuries sustained when a large bale of cotton being loaded on a ship in Mobile Bay fell on his head. After his injury he was removed to Albemarle County, Virginia, where he died on April 10, 1861. He is buried at the University of Virginia Cemetery.