Petersen was born in Evanston, Illinois, the youngest of six children of Helen June (née Hoene; 1909–2006) and Arthur Edward Petersen (1901–2004), who worked in the furniture business.\n', '

He is of Danish and German descent. He has two brothers, Arthur, Jr. and Robert, and three sisters, Anne, Mary Kay and Elizabeth.\n', '

He graduated from Bishop Kelly High School in Boise, Idaho, in 1972. He was accepted to Idaho State University on a football scholarship. While at Idaho State, Petersen took an acting course, which changed the direction of his life. He left school along with his wife, Joanne, in 1974, and followed a drama professor to the Basque country, where he studied as a Shakespearean actor. Petersen was interested in Basque culture and he studied the Basque language, Euskera, and gave his daughter the Basque name Maite Nerea (meaning My Beloved); she was born in Arrasate/Mondragón 1975. Petersen returned to Idaho with the intention of being an actor. Not wanting to work a nonacting job in Idaho, he returned to the Chicago area, living with relatives. He became active in the theater and earned his Actors\' Equity card. He performed with the Steppenwolf Theatre Company, of which he has been an ensemble member since 2008, and was a co-founder of the Remains Theater Ensemble, which also included other prominent Chicago actors Gary Cole and Ted Levine.\n', '

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