Upon the recommendation of drummer Jeff Tain Watts, Hurst joined trumpeter Wynton Marsalis' band, of which he was a member from 1986-1991, appearing on such albums as J Mood (1986), Live at Blues Alley (1987), Standard Time, Vol. 1 (1987), and Standard Time, Vol. 2: Intimacy Calling (1990). Also during this time, Hurst recorded albums with such artists Harry Connick, Jr., Terumasa Hino, and Vincent Herring, among many other musicians. He also appeared with Branford and trumpeter Terence Blanchard on the soundtrack to Spike Lee's 1990 film 'Mo Better Blues.
In 1991, Hurst joined Branford as a member of the Tonight Show Band, on the Tonight Show with Jay Leno. After Branford stepped down as leader of the Tonight Show Band in 1995, Hurst continued to play on-and-off with new Tonight Show Band leader, guitarist Kevin Eubanks. Since the '90s, Hurst has toured and/or recorded with a bevy of name artists including Geri Allen, Russell Malone, Dianne Reeves, Steve Coleman, and Yo-Yo Ma, among others. As a solo artist he has released several albums including Robert Hurst Presents: Robert Hurst (1992), One for Namesake (1993), Unrehurst, Vol. 1 (2002), Unrehurst, Vol. 2 (2010) and Bob Ya Head (2010).
In 2013, Hurst released his sixth studio album, Bob: A Palindrome, featuring such longtime associates as Belgrave, Branford, drummer Watts, and pianist Robert Glasper. He then paired with Bela Szakcsi, Tim Ries, and Rudy Royston for 2015's Climate Change. The rhythmically diverse Bob's Black Current Jam followed in 2017. ~ Matt Collar, Rovi