Mitchell was born in Brooklyn and educated at Juilliard. He appeared on Broadway in Chicago, Merlin, Song and Dance, Dangerous Games, Aspects of Love, Kiss of the Spiderwoman, Chronicle of a Death Foretold, Steel Pier and two productions of Man of La Mancha. His film credits include Carlito's Way, Random Hearts, Cradle Will Rock, Everyone Says I Love You and Chicago in which he played Velma's late husband, Charlie.
Mitchell was married and has two children, Garrett and Chase. A memorial service for the actor will be held on November 22 in New Jersey.