He was born in Padua. His parents were Teresa dei Conti Pisani and Domenico. At the age of eight he learned the trade of wood carving from his father. By the age of 14, he began carving in stone. By age 18, he was sent to study at the Accademia di Belle Arti in Venice under Leopoldo Cicognara and Matteini. A year later, he received a stipend to work in Rome, where he became a pupil of Canova in Rome. After the death of his master, Rinaldi attempted to occupy the same studio Canova had used for 30 years. In 1849, he joined the municipal council of the brief Roman Republic. After the papal restoration, he was briefly jailed. He completed the Monument to Pietro Fortunato Calvi, one of the Belfiore martyrs, unveiled in 1872 in Noale near the tower of the Clock Tower. He became dean of the Accademia di San Luca in Rome. He became Honorary member of the Accademia di Belle Arti of Venice in 1823, of the Academy in Rome in 1823, and the Virtuosi del Panteon in 1832, of the Academy of Fine Arts of Philadelphia in 1863. Pius IX decorated him with the Order of St Gregory and King Vittorio Emanuele II knighted him as cavalier of the Order of the Crown of Italy.
- La Ninfa Egeria
- Penelope che consegna ai Porci l'arco di Ulisse
- Ulisse riconsciuto dal Cane
- Metabo, re dei Volsci, consacra Camilla sulle sponde dell'Amaseno
- Group of Vergini
- Justice and Peace
- Cerere che insegna a Tirotolemo l'uso dell'aratro
- Eve and Abel
- Lost Time
- Gained Time
- "Professor Rinaldo Rinaldi - Mapping the Practice and Profession of Sculpture in Britain and Ireland 1851-1951". sculpture.gla.ac.uk. Retrieved 2019-08-19.
- Roma Artistica, Pubblicazione Mensile, Illustrata; Volume 1, Number 12; Editor: Architetto Raffaello Ojetti, 1872 Tipografia Romana di C. Bartoli, Piazza Poli #7-13; page 89-92.
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