Venugopal was born in 1925 as son of Kollangode native Nanikutti Amma and Nilambur native Kochunni Thirumulppad. He was educated in Palakkad Victoria College and Banarus University. The friendship with Dattopant Thengadi during student life made him a supporter of RSS.
In 1946, Venugopal became an RSS promoter and leader of Bharatiya Jan Sangh in 1965. Later, he became the organisational secretary of Bharatiya Mazdoor Sangh (BMS) in 1967. He had served as the state general secretary and national organisational secretary of BMS.