Vauro was born in Pistoia. He was Pino Zac's apprentice, and, together with Giancarlo Fusco, Cinzia Leone and others, in September 1978 they founded Il Male, a satirical weekly newspaper. It was published until March 1982.
His cartoons have been published in magazines such as Satyricon, Linus, Cuore, I quaderni del Sale, L'Echo des Savanes and El Jueves.
He is director of the satirical eweekly Boxer, collaborator of Il Corriere della Sera and Smemoranda. In 1996, he won the Political Satirist Prize of Forte dei Marmi. Vauro received international attention in 2009 when he was dismissed from RAI over controversial drawings he had shown during a broadcast of the series Annozero.