
Kotero worked as an actress, singer and model. After winning the Miss San Pedro beauty competition, and following a stint as a cheerleader for the Los Angeles Rams in the early 1980s, Kotero began acting in film and television shows such as CHiPs, Tales of the Gold Monkey, Fantasy Island, Matt Houston and Knight Rider. In 1982, she appeared in the music videos for "The Other Woman" by Ray Parker, Jr. and "Shakin'" by Eddie Money. She appeared in the 1984 TV movie The Mystic Warrior as the Native American woman "Wicahpi". During the mid-1980s, Kotero was linked to Prince, Lorenzo Lamas, Robbin Crosby, and David Lee Roth. She was later married to writer Kevin Bernhardt, from 1987 to 1996.

Born in California, Sheila E. is the daughter of African American Juanita (Gardere), a dairy factory worker, and percussionist Pete Escovedo, with whom she frequently performs. Escovedo is of Mexican heritage. Sheila E's uncle is Alejandro Escovedo, and Tito Puente was Escovedo's godfather. She also is niece to Javier Escovedo, founder of seminal San Diego punk act The Zeros. Another uncle, Mario Escovedo, fronted long-running indie rockers The Dragons. She also is the niece of Coke Escovedo who was in Santana and formed the band Azteca. Nicole Richie is Sheila E.'s biological niece, the daughter of Sheila's musician brother, Peter Michael Escovedo.