Riminaldi was born at Pisa. He was a pupil locally of the little known painter Rainero Alberghetti, then Aurelio Lomi, and finally Orazio Gentileschi. After moving to Rome, he painted in a Caravaggist style influenced or under the tutelage of Orazio Gentileschi, but when returned to Pisa, ultimately choosing a muted style. He painted the Martyrdom of St. Cecilia previously in the Palazzo Pitti, there is a copy in the church of St Catherine of Pisa. He painted a Samson slaying the Philistines (1626) and the Assumption of the Virgin (completed posthumously by his brother Girolamo) for the Cathedral of Pisa. He died of the plague in 1630.
Riminaldi's Danae and Icarus is in the Wadsworth Atheneaum in Hartford, Connecticut. His painting of Cupid Asleep Approached by Venus in Her Chariot is found in Kedleston Hall in Derbyshire, England.