Rinaldi was born in Padua, Italy and started his career in the family carpentry business. He went on to study design in Venice, where he was influenced by the Italian modernist movement.
In 1954 Rinaldi founded his own design company RIMA. He soon began designing furniture using modern materials such as metal and plastic, which helped create a new style of Italian furniture. His pieces were often characterized by organic, sculptural shapes and bright, vibrant colors.
