Raised in Jersey City, New Jersey, he went to Lincoln High School, briefly attended Jersey City State College and Rutgers University, and graduated with honors from New York's American Academy of Dramatic Arts in 1969. He also trained at the HB Studio in New York, with William Hickey and Michael Becket, and at The Actors Studio with Lee Strasberg.
Jefferson co-starred as merchant seaman Roy Dwyer in the award-winning novel for television Rich Man, Poor Man, its sequel, Rich Man, Poor Man Book II, and other TV films, such as the Emmy Award-winning miniseries drama The Law, with Judd Hirsch, as Jamaican defendant Maxwell Fall, and the Revolutionary War novel for TV, The Bastard, as Lucas, one of the legendary Minutemen, which is based on the best-selling book by historical novelist John Jakes.
Jefferson also appeared as a guest star in the pilot episodes of both the 1982 TV series Knight Rider as Muntzy, an undercover police officer and partner of Michael Long's (who becomes Michael Knight), and the 1984 pilot of the TV series Airwolf, as the commander of the aircraft carrier USS Enterprise.

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