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Lanier was born in New York City, lived in Maryland. He was trained as an anthropologist and archaeologist, and educated at Harvard, from which he graduated during 1951. He was a lifelong devotee of speculative fiction, as well as a cryptozoology enthusiast. Before beginning his literary career Lanier worked as a research historian at the Winterthur Museum from 1958 to 1960. He died in Sarasota, Florida, at the age of 79.

Lanier's career as an author and editor began during 1961, when his first short story was published and he became an editor for Chilton Books. He was instrumental in persuading Chilton to publish Herbert’s Dune during 1965. He also worked as an editor for the John C. Winston Company and McRae-Smith. The most prominent of his own writings are his stories of the crypto-adventurer Brigadier Donald Ffellowes (told in the 'club story' style of Lord Dunsany's Jorkens tales), and the post-apocalyptic novels Hiero’s Journey (1973) and The Unforsaken Hiero (1983). His short story "A Father's Tale" (1974) was a World Fantasy Award nominee.

Lanier’s sculptures have been exhibited at a number of museums, including the Smithsonian Institution. He specialized in miniatures, among which were a series featuring characters from J. R. R. Tolkien’s The Lord of the Rings . One set was given to Tolkien himself, with whom Lanier corresponded. Tolkien reportedly admired the miniatures but did not want them to be marketed commercially, a wish Lanier respected.

Hiero Desteen

• Hiero's Journey (Chilton, 1973) The Chilton hardcover was published in June 1973.The Bantam Books paperback edition appeared in May of 1974. The paperback was published as "A Frederik Pohl Selection", as it was chosen by the well-known editor. That designation appears on the cover, as well as pages i and ii.

• The Unforsaken Hiero (1983)

Brigadier Ffellowes

• The Peculiar Exploits of Brigadier Ffellowes (1971)
• The Curious Quests of Brigadier Ffellowes (1986)

Novels

• The War for the Lot (1969)
• Menace Under Marswood (1983)

Short stories

• "And the Voice of the Turtle" (1972)
• "The Brigadier in Check ... and Mate" (1986)
• "Commander in the Mist" (1982)
• "Deathchild" (1968)
• "A Father's Tale" (1974)
• "A Feminine Jurisdiction" (1969)
• "Fraternity Brother" (1969)
• "Ghost of a Crown" (1976)
• "His Coat So Gay" (1970)
• "His Only Safari" (1970)
• "Join Our Gang? " (1961)
• "The Kings of the Sea" (1968)
• "The Leftovers" (1969)
• "Never Cry Human" (1970)
• "No Traveler Returns" (1974)
• "Soldier Key" (1968)
• "Such Stuff as Dreams" (1968)
• "The Syndicated Time" (1978)
• "Whose Short Happy Life? " (1968)