Urista was born in Mexico City and attended primary school in Morelos. He went to the United States when he was thirteen, settling with his family in the border city of San Diego, California. He graduated from high school in 1965 and began studying business administration at Chapman University in Orange County, California. He disliked the field, however, and transferred to San Diego State University (SDSU) to study religion. He changed his major several times before earning a B.A. in psychology in 1970. He went on to earn an M.A. from SDSU in 1978, and his PhD in literature from the University of California-San Diego in 1983. His doctoral thesis was on the fiction of Chicano lawyer and author Oscar Zeta Acosta. He has taught at California Polytechnic State University in San Luis Obispo, California, Escuela Tlatelolco in Denver, Colorado, and at the University of Texas at Austin. He has also lectured and read his poetry in venues throughout the world.