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Herndon was born in Washington, D.C. and began his career joining the D.C.-based version of The Spaniels in the 1970s. He would remain singing with this version of the group until the late-1990s when he joined forces with former Temptations singer Glenn Leonard to form the splinter group The Temptations Experience. Upon the dismissal of Temptations bass singer Harry McGilberry in late 2003, Herndon was asked to replace McGilberry as a featured member of the legendary Motown quintet by Otis Williams. Herndon accepted and made his official Temptations debut on their last Motown album, 2004's Legacy.
- Ribowsky, Mark (2010). Ain't Too Proud to Beg: The Troubled Lives and Enduring Soul of the Temptations. John Wiley and Sons. pp. 142–143. ISBN 978-0-470-26117-0. Retrieved 15 February 2011.