Yarbrough was born in Burnsville, Minnesota. He attended Burnsville Senior High School and later Minnesota State University, Mankato. He is also an alumnus of Dudley Riggs' Brave New Workshop in Minneapolis.
Besides Milo Murphy's Law, he starred on the Comedy Central television series Reno 911! as Deputy S. (Sven) Jones.
He also provided the voice of Tom Dubois, Colonel H. Stinkmeaner on The Boondocks and Firestorm in the animated film Justice League: Crisis on Two Earths.
Yarbrough had a recurring role on the Fox TV series Rake as Jules. He is formerly starring in the ABC sitcom Speechless with Minnie Driver and also appeared in TV series The Goldbergs.