Antonio Lauro was born in 1917 in the city of Bolivar, Venezuela. His father was a musician who sang and composed pieces for guitar and piano that were published shortly before his death in 1922. Lauro’s mother decided to move with her three children to Caracas. Antonio soon showed a great talent for the guitar and became the official guitarist of Caracas Broadcasting. He began composing in the 1930s, and entered the Music Academy, which would later become the Escuela Superior de Musica "Jose Angel Lamas".

In 1935, he formed a vocal-instrumental group "Los Cantores del Tropico" and traveled throughout South America. The group was enormously successful and Lauro finally returned to Caracas in 1942, where he formed a new ensemble which would later be known as the "Trio Raúl Borges" in honor of his guitar teacher. From 1943, Lauro decided to continue his studies at the Escuela Superior de Musica, finishing his work in 1947, at which time he began to receive honors and praise for his compositions. In 1947, he composed the symphonic poem Cantaclara for which he received the first prize in the "Vicente Emilio Sojo" competition and then won the "Official Music Prize" for his guitar work Pavana al estilo de los vihuelistas. Between 1951 and 1952, Lauro wrote the Suite Venezolana para Piano and the Sonata para guitara. By 1956, Lauro had received the first prize in the "Vicente Emilio Sojo" competition and the "Official Music Prize" three times each. Lauro’s third victory in the "Vicente Emilio Sojo" competition was for his Concerto for Guitar and Orchestra which he performed in 1956 with the Venezuelan Symphony Orchestra.

As a guitarist, Lauro toured widely and gave prestigious concerts in London in 1982, where he was invited by John Wiliams and Paco Peña, and in France, Monaco and Germany. In 1985, Lauro was given the National Music Prize by the President of Venezuela.

By the time of his death in 1986, Lauro had written a vast selection of original works for guitar, guitar and voice, guitar and harpsichord, guitar duos and trios, works for piano, choral works and works for orchestra. The inspiration for many of his most famous pieces was his family and friends; "Maria Luisa"-his wife, "Natalia"-his daughter, "El Niño"-his son, Leonardo, "El Negrito"- his son, Luis Augusto, etc. Lauro’s works for guitar are amongst the most popular and famous in the guitar repertoire. He is a legend in Venezuela and in the world of guitar.