In 1951 Legal Aid in the United States, a report in the Survey of the Legal Profession series, was published by the American Bar Association. It identified large gaps in the availability of legal services in both civil and criminal cases for those unable to afford a lawyer. By the early 1960s, in response to the report, efforts by various bar associations to expand legal aid for defendants had resulted in a substantial increase in services albeit still with large areas of the country underserved.

In the civil realm, it led to the creation of the Legal Services Corporation under the Great Society program of Lyndon B. Johnson. Escobedo v. Illinois, a case which closely foreshadowed Miranda, provided for the presence of counsel during police interrogation.
On March 13, 1963, Ernesto Miranda was arrested by the Phoenix Police Department officers Carroll Cooley and Wilfred Young, based on circumstantial evidence linking him to the kidnapping and rape of an 18-year-old woman 10 days earlier. After two hours of interrogation by police officers, Miranda signed a confession to the rape charge on forms that included the typed statement: "I do hereby swear that I make this statement voluntarily and of my own free will, with no threats, coercion, or promises of immunity, and with full knowledge of my legal rights, understanding any statement I make may be used against me."

However, at no time was Miranda told of his right to counsel. Before being presented with the form on which he was asked to write out the confession that he had already given orally, he was not advised of his right to remain silent, nor was he informed that his statements during the interrogation would be used against him. At trial, when prosecutors offered Miranda's written confession as evidence, his court-appointed lawyer, Alvin Moore, objected that because of these facts, the confession was not truly voluntary and should be excluded. Moore's objection was overruled, and based on this confession and other evidence, Miranda was convicted of rape and kidnapping. He was sentenced to 20–30 years of imprisonment on each charge, with sentences to run concurrently. Moore filed Miranda's appeal to the Arizona Supreme Court, claiming that Miranda's confession was not fully voluntary and should not have been admitted into the court proceedings. The Arizona Supreme Court affirmed the trial court's decision to admit the confession in State v. Miranda, 401 P.2d 721 (Ariz. 1965). In affirmation, the Arizona Supreme Court heavily emphasized the fact that Miranda did not specifically request an attorney.

Attorney John Paul Frank, former law clerk to Justice Hugo Black, represented Miranda in his appeal to the U.S. Supreme Court. Gary K. Nelson represented Arizona.

Miranda was retried in 1967 after the original case against him was thrown out. This time the prosecution, instead of using the confession, introduced other evidence and called witnesses. One witness was Twila Hoffman, a woman with whom Miranda was living at the time of the offense; she testified that he had told her of committing the crime. Miranda was convicted in 1967 and sentenced to serve 20 to 30 years. The Supreme Court of Arizona affirmed, and the United States Supreme Court denied review. Miranda was paroled in 1972. After his release, he returned to his old neighborhood and made a modest living autographing police officers' "Miranda cards" that contained the text of the warning for reading to arrestees. Miranda was stabbed to death during an argument in a bar on January 31, 1976. A suspect was arrested, but due to a lack of evidence against him, he was released.

Another three defendants whose cases had been tied in with Miranda's – an armed robber, a stick-up man, and a bank robber – either made plea bargains to lesser charges or were found guilty again despite the exclusion of their confessions.
The Miranda decision was widely criticized when it came down, as many felt it was unfair to inform suspected criminals of their rights, as outlined in the decision. Richard Nixon and conservatives denounced Miranda for undermining the efficiency of the police, and argued the ruling would contribute to an increase in crime. Nixon, upon becoming president, promised to appoint judges who would reverse the philosophy that he viewed as "soft on crime." Many supporters of law enforcement were angered by the decision's negative view of police officers.
After the Miranda decision, the nation's police departments were required to inform arrested persons or suspects of their rights under the ruling prior to custodial interrogation or their answers would not be admissible in court. Such information is called a Miranda warning. Since it is usually required that the suspects be asked if they understand their rights, courts have also ruled that any subsequent waiver of Miranda rights must be knowing, intelligent, and voluntary.

Many American police departments have pre-printed Miranda waiver forms that a suspect must sign and date (after hearing and reading the warnings again) if an interrogation is to occur.

Data from the FBI Uniform Crime Reports show a sharp reduction in the clearance rate of violent and property crimes after Miranda. However, according to other studies from the 1960s and 1970s, "contrary to popular belief, Miranda had little, if any, effect on detectives' ability to solve crimes."
The federal Omnibus Crime Control and Safe Streets Act of 1968 purported to overrule Miranda for federal criminal cases and restore the "totality of the circumstances" test that had prevailed previous to Miranda. The validity of this provision of the law, which is still codified at 18 U.S.C. § 3501, was not ruled on for another 30 years because the Justice Department never attempted to rely on it to support the introduction of a confession into evidence at any criminal trial.

Miranda was undermined by several subsequent decisions that seemed to gr…

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The 2023 film Miranda's Victim directed by Michelle Danner explores the origins of the Miranda warning and the ultimate decision of the Supreme Court in favour of Miranda.