He finished high school at Gonzaga College High School in Washington DC, then went on to graduate from Clark University in Worcester, Massachusetts. It took several years before his career progressed. He acted Off-Broadway, winning Obie Awards for his performances in Othello in 1979 and Split in 1980.

In the late 1970s, Heard was garnering small roles in television and film. In 1979 he played Arthur Dimmesdale in a television production of The Scarlet Letter. By 1981, he was starring in the film Cutter's Way.

Heard was married for one year to fellow actor Margot Kidder. He has a son with actor and former girlfriend Melissa Leo. His present wife is named Sharon Heard.