Wokpo Jensma was born on 26 July 1939 in Middelburg, Cape Town. He received his education at the University of Potchefstroom, but his studies were temporally interrupted by a motorcycle accident. In 1961 to 1964 he enrolled for a Bachelor's Degree in Fine Arts with Botshabelo Training College and the University of Pretoria, and majored in sculpture. During this period, he also worked as an editor for Gerwe Magazine, and as a translator for the Afrikaanse Boekhandel Beperk. Jensma has been known for his extensive traveling, and work experience in countries such as Swaziland, Botswana and Mozambique. He taught art at Serowe Art School in Botswana.
As a privileged White artist, he spoke openly about the injustices that were experienced by Black people during apartheid. He was also a poet and his poem Once and Now, speaks openly about racism experienced by young girls working as domestic workers. His poems could also be read as an extension of his personal experiences with the South African government.
Wokpo Jensma disappeared without trace after August 1993.