He is a younger brother of Jerome Cavanagh who was Mayor of Detroit in the 1960s. He earned a B.A. degree from the University of Detroit in 1962 and his JD degree from the University of Detroit Law School in 1966.[3][4]
He previously served as a judge on the Michigan Court of Appeals from 1975 to 1982. Before that, he served as Lansing City Attorney and as a District Court judge.
Cavanagh served as chief justice from 1991 to 1995.[3]
In November 2018, his daughter, Megan Cavanagh, was elected as an associate justice of the Michigan Supreme Court, and became the first child to have joined her parent as a member of the Court since 1857.[5]