Lawrence was born in New York City, the son of a Polish Jewish mother, Minerva Norma (née Sugarman), and a Russian Jewish father, Israel Simon Goldsmith. He participated in plays in school, then attended the City College of New York. He married Odessa-born Novelist and Screenwriter Fanya Foss, with whom he had two children; she died on December 12, 1995. Lawrence died of heart failure on November 28, 2005 at the age of 95. He was buried at Westwood Memorial Park in Westwood, California. His son, Michael Lawrence, is a Writer and Artist based on the Greek island of Hydra, whose book, My Voyage In Art, details his meetings with various of his father's actor friends; while at UCLA he befriended the singer-songwriter James Douglas "Jim" Morrison. His daughter, Actress Toni Lawrence, was once married to actor Billy Bob Thornton and starred in his film Daddy's Girl.