Nasr was born in Brasília, Distrito Federal, Brazil, and is of Lebanese ancestry, his grandfather having emigrated to Brazil in the 1960s. He began karting at age seven and won several championship titles in Brazil between 2000 and 2007.
Nasr made his open-wheel debut in the final round of the 2008 Formula BMW Americas season at Interlagos, claiming a podium finish. In 2009 he moved to the European Formula BMW championship with EuroInternational, winning six races, five pole positions, and the title by 104 points over teammate Daniel Juncadella.
For 2010, Nasr joined the British Formula 3 Championship with Räikkönen Robertson Racing, finishing fifth. He transferred to Carlin Motorsport for 2011, won the Sunoco Rolex 24 at Daytona Challenge — a cross-series programme for UK series using Sunoco Racing Fuel — earning a drive in the 2012 Rolex 24 at Daytona, where he finished third overall driving a Riley prototype for Michael Shank Racing. He claimed the 2011 British Formula 3 title by 123 points over teammate Kevin Magnussen.
Nasr signed with DAMS for the 2012 GP2 Series season, supported by Brazilian sponsors Banco do Brasil and OGX. He took four podiums including a second place at Spa and finished tenth, helping DAMS win the teams' championship alongside champion Davide Valsecchi. He was the second-highest-placed rookie behind James Calado.
For 2013, Nasr moved to Carlin, partnering Jolyon Palmer, and finished fourth in the standings. He remained at Carlin for 2014, taking his first GP2 win in the sprint race in Barcelona and adding wins at the Red Bull Ring, Silverstone, and Spa-Francorchamps. He finished third overall, five points behind rookie Stoffel Vandoorne who took second at Yas Marina. His primary title rival was former teammate Jolyon Palmer, who won the championship in Russia.
In 2014 Nasr joined Williams as reserve driver, making his first free practice appearance at the Bahrain Grand Prix in place of Valtteri Bottas. On 5 November 2014 it was announced he would drive for Sauber in 2015. In his first race in Australia he finished fifth — the highest placing for a Brazilian driver on debut. He completed the 2015 season with 27 points, finishing 13th in the drivers' championship.
Sauber retained Nasr for 2016. His only points finish that year came at the Brazilian Grand Prix, where his ninth place allowed Sauber to overtake Manor in the constructors' standings, costing Manor prize money and ultimately contributing to that team's bankruptcy. The result left Nasr without a seat for 2017: he was due to swap places with Manor driver Pascal Wehrlein, but with Manor exiting the sport no seat was available.
In January 2019 Nasr joined GEOX Dragon for the Formula E rookie test in Marrakesh but was unable to participate due to contractual issues. He replaced Maximilian Günther from the Mexico City ePrix onwards, finishing 19th on debut. At Hong Kong he crashed out early, collecting both Mahindra cars of Wehrlein and Jerome d'Ambrosio. At Sanya he stalled on the grid for his second successive DNF. IMSA commitments caused Günther to return for the Rome ePrix, and Nasr did not return to the series, classified 24th overall on no points alongside Tom Dillmann and Felix Rosenqvist.
In March 2020 Nasr was announced for a Carlin entry at the Firestone Grand Prix of St. Petersburg, but the COVID-19 pandemic postponed the race until October and he did not ultimately compete in the 2020 season.
Nasr entered the Prototype category of the 2018 IMSA WeatherTech SportsCar Championship with Whelen Engineering Racing, partnering Eric Curran in a Cadillac DPi-V.R. After a second at Daytona and third at Sebring, Nasr scored his maiden IMSA win at Belle Isle, holding off Ricky Taylor. The pair clinched the North American Endurance Cup and the overall title at the season finale at Road Atlanta.
For 2019, Nasr partnered compatriot Pipo Derani for the full season, with Curran joining for endurance rounds. He was overtaken by Fernando Alonso at Daytona, but won at Sebring. He and Derani won the Endurance Cup title with victory at Petit Le Mans, though they lost the overall crown by five points to the Acura Team Penske No. 6.
In 2020, Nasr was forced to sit out after testing positive for COVID-19 but returned to win at Sebring alongside Derani. The team finished fourth in the standings. In 2021, the pair won the Daytona quali race, with Nasr on pole. Victories at Watkins Glen, Road America, and Long Beach followed, with Nasr also taking poles at Road America and the season finale. Despite leading until being passed with 22 minutes remaining in the finale, Nasr finished second and claimed his second IMSA title — his first alongside Derani.
In December 2021, Nasr and Dane Cameron were the first drivers announced for the new Porsche Penske Motorsport project targeting the LMDh category. In preparation for the Porsche 963, the team entered the LMP2 class of the 2022 FIA World Endurance Championship with an Oreca 07, with Nasr, Cameron, and Emmanuel Collard sharing the car. At Le Mans, early efforts brought the No. 5 Penske to second before a tyre delamination in hour six dropped them to fifth in class. The LMP2 campaign was discontinued after Le Mans.
During 2022, Nasr also contested three IMSA crown jewel events in the GTD Pro class with Pfaff Motorsports, sharing with Mathieu Jaminet and Matt Campbell. They won at Daytona, finished fifth at Sebring, and took third at Petit Le Mans — the latter result earning Jaminet and Campbell the GTD Pro title.
For 2023, Nasr partnered Campbell in the Porsche 963 as part of Porsche Penske's No. 7 crew. In a challenging debut season, they scored three podiums including a victory at Road America, finishing fifth in the standings.
In 2024, Nasr was joined by Cameron, with Campbell providing support at endurance events. Nasr won at Daytona, defending hard against Tom Blomqvist in the final hour. Further wins came at Watkins Glen after a pass on Louis Delétraz at the final restart. The No. 7 team also benefited from disqualifications including that of the podium-finishing No. 6 Porsche, widening their championship lead to 124 points. Third at Petit Le Mans secured Nasr and Cameron both the overall IMSA title and the Michelin Endurance Cup.
In 2025, Nasr partnered Nick Tandy to defend his title.
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