Frost was born in Leamington Spa. He began painting while he was a prisoner of war in Germany during the Second World War. Frost moved to Cornwall in 1946, studying at art school in St Ives. From 1947 to 1950 he studied in London. He returned to St Ives in 1950 and worked as an assistant to Barbara Hepworth in 1951. Frost's abstract paintings are based on the observation of nature. The harbour at St Ives was one of his favourite subjects. Frost taught at Bath Academy, Leeds University and Reading University, holding the prestigious Gregory Fellowship in Leeds.