He is friends with K-Ci & JoJo whom he met while singing on the gospel circuit. Richardson was signed to Tommy Boy Records in the early 1990s. He was the lead singer of the R&B group Undacova, whose song "Love Slave" appeared on the soundtrack to the 1995 film New Jersey Drive.
In the mid 1990s, Richardson went solo and signed with Uptown Records/Universal Records. His debut album, Country Boy, was released on August 24, 1999, selling 100,000 units. Despite this he was dropped by Universal. Shortly thereafter, he signed a contract with Hollywood Records.
On September 16, 2003, he released his second album, 2:35 PM. The album was given that name because Richardson's child was born at that time, just before completing the album. It featured the minor R&B hit "More Than a Woman", a duet with Angie Stone which originally appeared on her 2001 album Mahogany Soul. An alternate version of the song, which replaces Richardson's vocals with new ones from Joe, was nominated for Best R&B Performance by a Duo or Group with Vocal at the 2003 Grammy Awards. The album also included hits such as "Keep on Pushin'" and "You Got Me High" featuring Slum Village. The album was produced by The Underdogs, Jake & Trevor, Young RJ, and Raphael Saadiq.
Richardson then co-wrote and performed on the track "Excuse Me", from Saadiq's 2002 Grammy Award nominated album Instant Vintage, as well as Co-Writing The Charlie Wilson Smash "There Goes My Baby"
Richardson released his third album, When Love Comes, on May 27, 2008. In 2009, he moved to Shanachie Records, and was chosen to record a tribute album to Bobby Womack, which coincided with Womack being inducted into the Rock and Roll Hall of Fame. The Grammy nominated album was entitled, Facts Of Life/The Soul Of Bobby Womack. On August 31, 2010, Richardson released his fifth album, Americas Most Wanted. The lead single was "You're So Amazing".
As of 2013, he has joined the upcoming reality series "Come Back Kings" with Ed Lover, Horace Brown, David "Davinch" Chance (of Ruff Endz), Jeff Sanders, Jameio, Mr. Cheeks and Black Rob.