Makarov was born on 22 May 1914 in the village of Sasovo to the family of a railway worker. In 1936, he enrolled to the Tula Mechanical Institute. At the onset of the Axis invasion, he was preparing for his graduation. He was hastily qualified as an engineer and sent to the Zagorski Machine Works (now in Sergiyev Posad). The plant was soon evacuated to Kirov Oblast. In 1944, Makarov returned to Tula, and graduated from the Tula Mechanical Institute with honors. In 1945, he took part in a pistol design competition that aimed to find a replacement for the TT pistol and M1895 Nagant revolver (the former was in use since 1930 and the latter since the late 1800s). Makarov's work, which made use of some elements of the Walther PP, won the competition and was adopted by the army in 1951. Makarov continued designing firearms in Tula until his retirement in 1974. Later, he was elected to the Soviet of Working People's Deputies in Tula Oblast, and was chosen as a council member of the scientific and technological society Mashprom.