Born in Dresden under the name Ralf Winkler, Penck attended courses at the Volkshochschule, later evening courses at the Dresden Hochschule für Bildende Künste. At the end of the 1980s he was appointed professor at the Düsseldorf Art Academy.

A.R. Penck belongs to the group of artists who oriented themselves on the Fauves experimenting at the beginning of the 20th century, namely the Neue Wilden. In his pictures he uses stick figures and graphic symbols, an art of drawing with which he broached the issue of the separation of Germany at that time and the search of the individual for a free society. The German painter, graphic artist and sculptor is regarded as one of the most important contemporary artists.

The gallery owner Michael Werner is considered as the discoverer of Penck and from 1970 numerous works by the artist were exhibited in the Cologne gallery. His works were exhibited at the documenta in Kassel in 1972, 1982 and 1992. In 1982 his works also conquered foreign countries: In France, as well as in London, namely the Royal Academy in London, he was celebrated as one of the main representatives of a new German painting.

After his retirement in 2003 he lived in Dublin. 2017, on 2 May, A.R. Penck dies in Zurich.