Hagåtña, Guam
Camacho was born in the village of Hagåtña, Guam to Felix Martinez Camacho (1893–1975) and Antonia Cruz Garcia (1893–1985), both Spanish immigrants. His siblings included Maria Josefina Tanaka, Juan Camacho, Luis Camacho and Eddie Camacho. From 1946 to 1949, he attended Aquinas College in Grand Rapids, Michigan. In 1952, he earned a D.D.S. degree from Marquette University in Milwaukee, Wisconsin.