Hill was born to a "very ordinary" family. His father, Reg Hill, was a professional footballer. His mother was a fan of Golden Age crime writers, and he discovered the genre while fetching her library books. He passed the Eleven plus exam and attended Carlisle Grammar School where he excelled in English. After National Service and reading English at St Catherine's College, Oxford, he worked as a teacher for many years, becoming a senior lecturer at Doncaster College of Education. In 1980 he retired from salaried work to devote himself full-time to writing. Hill is best known for his more than 20 novels featuring the Yorkshire detectives Andrew Dalziel, Peter Pascoe and Edgar Wield. The characters were used by the BBC in the Dalziel and Pascoe series, in which Dalziel was played by Warren Clarke, Pascoe by Colin Buchanan, and Wield by David Royle. He also wrote more than 30 other novels, including five featuring Joe Sixsmith, a black machine operator turned private detective in a fictional Luton. Novels originally published under the pseudonyms of Patrick Ruell, Dick Morland, and Charles Underhill have now appeared under his own name. Hill was also a writer of short stories and ghost tales. Hill's novels employ various structural devices, such as presenting parts of the story in non-chronological order, or alternating with sections from a novel supposedly written by Peter's wife, Ellie Pascoe. He also frequently selected one writer or one work of art to use as a central organizing element of a given novel, such as one novel being a pastiche of Jane Austen's works, or another featuring elements of classical Greek myth. The novella One Small Step is set in the future, and deals with the EuroFed Police Commissioner Pascoe and retired Dalziel investigating the first murder on the moon. The duo do not always "get their man", with at least one novel ending with the villain getting away and another strongly implying that while Dalziel and Pascoe are unable to convict anyone, a series of unrelated accidents actually included at least one unprovable instance of murder. Hill commented in 1986:
I still recall with delight as a teen-ager making the earth-shaking discovery that many of the great "serious novelists," classical and modern, were as entertaining and interesting as the crime-writers I already loved. But it took another decade of maturation to reverse the equation and understand that many of the crime writers I had decided to grow out of were still as interesting and entertaining as the "serious novelists" I now revered.
Hill died in Ravenglass, Cumbria, on 12 January 2012 after suffering a brain tumour.