Jarreau was born in Milwaukee, Wisconsin, the fifth of six children. His website refers to Reservoir Avenue, the name of the street where he lived. His father was a Seventh-day Adventist Church minister and singer, and his mother was a church pianist. He and his family sang together in church concerts and in benefits, and he and his mother performed at PTA meetings.
He was student council president and Badger Boys State delegate for Lincoln High School, going on to Ripon College, where he also sang with a group called the Indigos. Jarreau graduated in 1962 with a Bachelor of Science degree in psychology. He went on to earn a master's degree in vocational rehabilitation from the University of Iowa, worked as a rehabilitation counselor in San Francisco, and moonlighted with a jazz trio headed by George Duke.
In 1967, he joined forces with acoustic guitarist Julio Martinez. The duo became the star attraction at a small Sausalito night club called Gatsby's. This success contributed to Jarreau's decision to make professional singing his life and full-time career.