A young child when his father died, Stokes held a number of odd jobs to help support his family. He dropped out of high school to work in a foundry and later served (1945–46) in the U.S. Army during World War II. After earning his high school diploma, he studied law at the University of Minnesota (B.S., 1954) and Cleveland-Marshall Law School (LL.B., 1956). In 1957 he passed the bar and the following year was appointed assistant city prosecutor in Cleveland. During this time Stokes became increasingly involved in civil rights activities and the Democratic Party.

In 1962 Stokes was elected to the Ohio General Assembly, where he developed a reputation as a moderate. Narrowly defeated in his 1965 bid for Cleveland's mayorship, he won the post in 1967. As mayor, Stokes sought to improve Cleveland's declining economy and to create racial unity. His efforts were undermined in 1968 by the Glenville riots, in which a shoot-out between police officers and African Americans led to several deaths and sparked looting and arson. He was reelected in 1969 but retired from politics in 1971.

Stokes then moved to New York City to become a television news anchor and later won an Emmy Award for his broadcast work. After returning to Cleveland, he served as general counsel (1980–83) to the United Automobile Workers before being elected a municipal court judge in 1983. From 1994 to 1995 Stokes served as U.S. ambassador to Seychelles. His autobiography, Promises of Power, was published in 1973.