Roberts was born in Tavares, Florida, and raised in Apopka, Florida, where he was interested in both auto racing and baseball. He was a pitcher for the Zellwood Mud Hens, an American Legion baseball team, where he earned the nickname, "Fireball" because of his fastball. He enlisted with the United States Army Air Corps in 1945, but was discharged after basic training because of his asthma.

He attended the University of Florida and raced on dirt tracks on weekends. In 1947, at the age of eighteen, he raced on the Daytona Beach Road Course at Daytona, for the first time. He won a 150-mile race at Daytona Beach the following year. Roberts also competed in local stock and races at Florida tracks such as Seminole Speedway.

"Fireball" Roberts continued to amass victories on the circuit, despite the changes in NASCAR, as it moved away from shorter dirt tracks to superspeedways in the 1950s and 1960s. In his 206 career NASCAR Grand National races, he won 33 times and had 32 poles. He finished in the top-five 45 percent of the time, and in the top-ten 59 percent of the time. He won both the Daytona 500 and Firecracker 250 events in 1962, driving a black and gold 1962 Pontiac built by car builder legend, Smokey Yunick.

In 1961, Roberts, temporary president of the Federation of Professional Athletes, was in dispute with NASCAR president, Bill France, over the Teamsters' Union affiliate - the FPA - which he and Curtis Turner had helped organize and which France was trying to disband. Unlike the banned Curtis Turner and Tim Flock, Roberts soon returned to the NASCAR fold.

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