Samuel Phelps was the son of Captain John Phelps, a wealthy farmer of Litchfield, CT and his wife Sally (Shethar) Phelps. After leaving the Litchfield Law School, Phelps moved to Middlebury, VT. Although the area was strongly Federalist, he was a member of the Democratic Party. During the War of 1812, Phelps was drafted into the army and sent to the Canadian frontier. He was appointed Paymaster by President James Madison. After the war ended, he returned to Middlebury, VT and resumed his legal studies.

Phelps practiced as a successful lawyer there until 1831. Phelps and his first wife had three sons. His son Edward J. Phelps became the Minister to Great Britain. His first wife died only a few years after their marriage. Phelps and his second wife had six sons and two daughters.

During his two terms in the U. S. Senate, he made many important speeches regarding the Clayton Compromise of 1848 as well as on the Vermont Anti-Slavery Resolution in the spring of 1850. Phelps was appointed to the "Select Committee of Thirteen: which was referred to various matters pertaining to slavery. He served reluctantly and when Clay's compromises were presented he dissented from the majority. Phelps resumed his law practice in Middlebury in 1851 and later died there. [Source: Litchfield Ledger]