Born in Poughkeepsie, New York, Duke received his first instruction in the performing arts at Boston University. After also studying at New York University's Tisch School of Arts and the AFI Conservatory, Duke began his career behind the camera, directing episodes of several noteworthy 1980s television series, including Hill Street Blues and Miami Vice.

Standing an imposing 6'4 and featuring a closely shaved head, Duke became a familiar face to moviegoers after portraying tough guys alongside Arnold Schwarzenegger in Commando and Predator, as well as the memorable police chief in Carl Weathers' action vehicle Action Jackson. He was a dirty cop in the Mel Gibson revenge movie Payback. He also has appeared in the X-Men: The Last Stand as Bolivar Trask.

Other Duke films include Car Wash (1976) where he portrays Abdullah, and American Gigolo (1980) as a homosexual. In American Gigolo, Duke is seen with hair as opposed to his other films.

Returning to the director's chair, Duke began directing feature-length films in the 1990s with crime dramas A Rage in Harlem and Deep Cover. He also directed The Cemetery Club and the well-received Sister Act 2, starring Whoopi Goldberg. Duke continues to act and direct for both the small and silver screens. He is also a mentor for young African-Americans aspiring for the performance arts.