Nelson was born July 16, 1917, in Lincoln, Nebraska. She graduated from the University of Nebraska in 1940 and North Park Bible Institute in 1945. Ruth and Quentin Nelson were married September 2, 1942, in Lincoln.
They were consecrated to the mission field during the denomination’s 1945 Annual Meeting and served in Congo from 1946 to 1968. During that time, the couple was stationed in Gbado, Wasolo, Bolenge, and Luluabourg. Nelson did bookkeeping work at the stations and taught classes to women.
Following her years in Congo, Nelson taught at North Park Academy and Luther North High School in Chicago and later served as administrative assistant to the vice-president for business affairs at North Park College.
She is survived by her husband, Quentin, and four children: Karin, Suzanne, Bonnie, and Ted.