Curtis-Hall was born in Detroit, Michigan, the son of Curtis, a construction company owner, and Angeline, a nurse. Initially a stage actor, Curtis-Hall was a member of the original cast of the Broadway musical Dreamgirls. He originated the role of Marty, James "Thunder" Early's original manager.
The designer, Kevan Hall is the brother of Vondie. They also have a sister, Sherrie. All of them attended Presentation Our Lady of Victory grade school in Detroit where they were taught by the Oblate Sisters of Providence, the only all African American order of nuns in the United States.
He has had recurring roles on TV series such as Soul Food, I'll Fly Away, and ER. His recurring role as Roger McGrath on ER earned him an Emmy Award nomination for Outstanding Guest Actor in a Drama Series.
His most prominent role as an actor to date is as supporting character Dennis Hancock on the medical drama Chicago Hope. Curtis-Hall portrayed Ben Urich in the Netflix series Daredevil.
He is married to actress/director Kasi Lemmons, and they have a son, Henry Hunter, and a daughter, Zora. He also appeared in Lemmons's 2013 film Black Nativity.