His three sons were all musicians in the band Toto: keyboardist Steve Porcaro, late bassist Mike Porcaro and late drummer Jeff Porcaro. Joe guested on every Toto album from Turn Back through Kingdom of Desire, including Toto IV. He also has a daughter, Joleen Porcaro Duddy. Along with fellow music educator and drummer, Ralph Humphrey, Joe was one of the founders of the Los Angeles Music Academy (LAMA) located in Pasadena, California.
Joe Porcaro has recorded with Nancy Sinatra, Pink Floyd, Stan Getz, Gerry Mulligan, Freddie Hubbard, Don Ellis, Frank Sinatra, Sarah Vaughan, Natalie Cole, The Monkees, Howard Roberts, Gladys Knight and Madonna. He has also done film score work, including with James Newton Howard, John Williams, Jerry Goldsmith, James Horner, Danny Elfman, John Frizzell and his son Steve.