Stone was born in Columbia, South Carolina. In the early 1980s, Stone (then known as Angie B.) was a member of The Sequence, a major female hip-hop/funk group. They had a hit in 1980 with "Funk You Up", which peaked at number fifteen on the Top Black Singles chart. She then worked with Mantronix, before teaming up and performing vocals and saxophone for Lenny Kravitz.

Stone emerged during the 1990s as part of R&B trio Vertical Hold which released the popular single "Seems You're Much Too Busy" as well as two albums: A Matter of Time (1993) and Head First (1995).

In 1996, she teamed up with Gerry DeVaux (Lenny Kravitz's cousin) and together with Charlie Mole they formed Devox. They recorded one album, Devox Featuring Angie B. Stone, released in Japan only on Toshiba-EMI, including Stone-penned material.

Stone shared songwriting credits on D'Angelo's first two studio albums, Brown Sugar (1995) and Voodoo (2000), as well as providing backing vocals on tour with him.

Her first solo album, Black Diamond, was released on September 28, 1999 on Arista Records. She has since also released, on Clive Davis' J Records, Mahogany Soul on October 16, 2001 and Stone Love on July 6, 2004.

Much of Stone's solo material has significant hip-hop and soul influences and features notable samples. For example, her first solo single, "No More Rain (In This Cloud)" samples Gladys Knight & the Pips' 1972 "Neither One of Us (Want to Be the First to Say Goodbye)", and "Wish I Didn't Miss You" samples The O'Jays' 1972 "Back Stabbers".

Stone sings the theme song for the CW's sitcom Girlfriends. She has two children, a daughter and a son. The son is the child of neo soul singer D'Angelo, whom Stone dated during the 1990s.