Whitfield was born in Franklin, Williamson County, Tennessee. He served in the Mexican–American War. He moved to Independence, Missouri, in 1853. He was registrar of the land office at Doniphan, Kansas. Whitfield served in the Texas cavalry during the Civil War, reaching the rank of brigadier general. He settled in Lavaca County, Texas, after the war and served in the Texas House of Representatives. He died in Hallettsville, Texas, where he is buried.