Joseph H. Nichols was born around 1828 in Swansea, Massachusetts, to Joseph and Parthenia Nichols. His father was a physician who owned $500 of personal property by 1860. He grew up and attended school in Taunton, Massachusetts. He married Sarah Austin on June 12, 1856, and they had at least four children: Henry, born around 1857; Fannie, born around 1859; Ellen, born around 1871; and Mary, born around 1874. By 1860, he was working as a clerk.
He enlisted in the United States Navy in May 1861, and he served as a landsman. He served aboard the USS Massachusetts, and he was discharged on March 15, 1862. Then, on August 20, 1862, he mustered in as a private in Company C of the 22nd Massachusetts Infantry. According to his service records, he was 5 feet, 1 ½ inches tall, with black hair and dark eyes. The regiment took part in the Battle of Antietam, the Battle of Fredericksburg, and the Battle of Gettysburg, but it is unclear if he took part in these battles. In March 1863, after the Battle of Kelly's Ford, he confessed to his wife that "I dread the sceans of the battle field it is to horiable to wright about so I will omit the subgect at present."
He fell ill in the spring of 1863 and spent several months in the hospital. He attributed the illness to piles, writing that "I am in pane in my parts most of the time and am week in my legs." He expressed frustration at being away from his regiment. In June 1863, he admitted that it "dose not seam as if I was helping put down this war." He remained devoted to the Union's "glorious cause," and he vowed that "when it becoms my lot to be in any ingagement I will do all I can with out faltering." He mustered out on October 12, 1863.
He returned to Taunton after leaving the army, and he worked as a laborer. He died of dropsy in Taunton on October 17, 1875.