Like his fellow Sun Ra bandmates, John Gilmore and Pat Patrick, Boykins attended Chicago's DuSable High School and studied under its famed music teacher "Captain" Walter Dyett. He also studied with Ernie Shepard, who would later work with Duke Ellington. Boykins joined the Arkestra in 1958, during the Chicago period, and travelled with them to Canada and then to New York City. Boykins has been described as "the pivot around which much of Sun Ra's music revolved for eight years, as well as one of the most determining elements in the sound of the Arkestra." This is especially pronounced on the key recordings from 1965 where the intertwining lines of Boykins' bass and Ra's electronickeyboards provide the cohesion. Boykins' arco solo on Sun Ra's "Rocket No. 9 Take Off for Planet Venus" from 1960 may be the first recorded example of the bass being played in a horn-like manner within a relatively free context, predating similar work by Alan Silva and David Izenzon. Boykins appeared on over fifty Sun Ra albums, and was a regular member of Sun Ra's band from 1958 until 1966, and occasionally thereafter. Before joining Ra, Boykins had joined with a trombonist friend to open a private club—The House of Culture—with the intent of promoting black culture. In 1962, Boykins recorded with the hard boptenor saxophonistBill Barron and, the next year, with pianistElmo Hope. Boykins worked with tenor saxophonist Archie Shepp's New York Contemporary Five in 1964. He left Ra in 1966, ostensibly to pursue more lucrative opportunities. Ra had a difficult time finding a replacement, at times settling for playing his own bass lines on keyboard. In the late '60s, Boykins formed his own group, the Free Jazz Society, which included the pianistJohn Hicks. In the '70s, Boykins played with the Melodic Art-tet, a cooperative free jazz ensemble that also included drummerRoger Blank, saxophonist Charles Brackeen, and trumpeterAhmed Abdullah. In 1975, the bassist led a session for ESP Disk that produced his sole LP as a leader, The Will Come, Is Now. Reviewer Jerry D'Souza wrote: "Boykins made just one record as leader, but it marks his place as an adventurous bassist and a composer with a gift for style and genre." In 1979 he played with Steve Lacy and Dennis Charles on Capers. In the course of his career, Boykins also worked with Mary Lou Williams, Marion Brown, and Sarah Vaughan, among others. He died in New York City in 1980 at the age of 44.
