Born on July 7, 1836, in a military officer's family in La Coruña. In May 1852, he entered the Infantry Academy and practiced in the Zaragoza Infantry Regiment. After graduation, he was stationed Vitoria-Gasteiz, Oviedo, Alicante,Valencia, Cartagena and Avila. In 1859, he went to Morocco to take part in the Hispano-Moroccan War. He repeatedly made several military exploits on the battlefield and was seriously injured which resulted in his promotion to Captain. Returning to Spain after the war in 1866, he suppressed an uprising in the San Gil barracks led by Juan Prim. From 1867, he served in the Northern Spanish Army, preventing the infiltration of Carlists during the Third Carlist War.[2]
In 1872, he was promoted to Commander for his military exploits during the war. In 1874, he was promoted to Lieutenant Colonel of the Infantry due to his military exploits. In 1875, he commanded his own troops to participate in many battles in the Third Carlist War. In 1876, he was promoted to Colonel and commanded the 12th Infantry Regiment "Zaragoza". Thereafter, he was appointed head of the Burgos brigade and military governor of the Province of Logroño. Promoted to Brigadier General in 1889. In 1895, he served as the commander of the 1st Division of the 4th Army, the military governor of the province of Logroño, the commander of the 2nd Division of the 6th Army and the military commanders of Girona, Tarragona and Álava.[2]
Jáudenes was in Manila when the Spanish parliament, the Cortes, learned of Governor-General Basilio Augustín's attempt to negotiate the surrender of the army to Filipinos under Emilio Aguinaldo.[1] This caused Augustin's removal on July 24, 1898, and the appointment of Jáudenes.[1] By Royal Decree of October 5, 1898, Jaúdenes was removed from all his positions and after his return to Madrid, tried in the Supreme Council of War and Navy for his surrender of the Plaza de Manila. As a result, he was separated from service and was forced to retire.[2]