Giuseppe Mazzuoli was born in Volterra and trained in Siena, but spent most of his working life in Rome. There, he entered the workshop of Ercole Ferrata where he became the only pupil of the Maltese sculptor Melchiorre Cafà, who also worked with Ferrata. Like Ferrata, Mazzuoli was frequently drawn on by Gian Lorenzo Bernini to assist with large commissions. He executed the statue of Charity for the funerary monument (1672–78) of Pope Alexander VII (r. 1655-67), which Bernini designed.
At the grand age of 81, Giuseppe Mazzuoli died in Rome on March 7th 1725. He was buried in the church of San Francesco di Paola.