He was a grandson of Robert Wood Johnson I (co-founder of Johnson & Johnson). Johnson was born in New Brunswick, New Jersey. His father was Robert Wood Johnson II, president and chairman of Johnson & Johnson, and his mother was Elizabeth Dixon Ross Johnson.
Johnson grew up an only child. Johnson worked for Johnson & Johnson from 1941-1965. He was president of J&J from 1961–1965, until his father fired him.
He was succeeded as president by Philip B. Hofmann, the first non-Johnson family member to head the company since 1887.
Johnson also served for ten years on the board of directors of the Robert Wood Johnson Foundation as president and vice president
