Yamamoto was born in Toyohashi, Aichi Prefecture. He began his racing career in 1994 at the Suzuka Circuit Racing School in karting, and progressed through the junior ranks. He became the test and third driver for the Jordan Formula One team for one weekend — the 2005 Japanese Grand Prix.
On 8 June 2006, Yamamoto joined Super Aguri as their test and third driver, assisting Takuma Sato and Franck Montagny in Friday free practice sessions. He replaced Montagny in the second car at the 2006 German Grand Prix at Hockenheim. Mechanical failure and a stalled engine restricted him to one lap across his first two races; he also damaged a new SA06 chassis in a crash during free practice at the German Grand Prix.
At the 2006 Italian Grand Prix, Yamamoto suffered a tyre delamination during qualifying that left debris on track; Fernando Alonso subsequently punctured a tyre on that debris, which contributed to Alonso being penalised and dropping from fifth to tenth on the grid. Yamamoto retired from the race with terminal hydraulic problems after starting from the pit lane.
At the 2006 Chinese Grand Prix, Yamamoto recorded his first finish, completing the race in sixteenth place, four laps down. After the race, Nick Heidfeld berated him for a final-lap incident before realising he had confused Yamamoto with Sato and apologised. Yamamoto finished the season with three consecutive classified results, including setting the seventh fastest lap and second fastest middle sector at the Brazilian Grand Prix. Despite this late improvement, he lost the second Super Aguri race seat for 2007 to Anthony Davidson, remaining as a test driver. He also competed in the 2007 GP2 Series season with BCN Competicion.
Following the departure of Christijan Albers from Spyker after the 2007 British Grand Prix, Markus Winkelhock briefly filled the seat at the 2007 European Grand Prix. On 26 July 2007, Spyker confirmed Yamamoto for the remainder of the season. He crashed out on lap 4 at Hungary in his first race for the team. He finished the remaining races in last position, with the exception of the 2007 Japanese Grand Prix — where he finished ahead of Jarno Trulli — and the 2007 Brazilian Grand Prix, from which he retired after Giancarlo Fisichella collided with him on the opening lap.
On 4 February 2008, Yamamoto was announced as a test driver for the Renault F1 Team, with his role limited to public demonstrations rather than circuit testing. Lucas di Grassi and Romain Grosjean were the designated circuit test drivers. Sanho Human Service, which had sponsored Spyker during Yamamoto's tenure, also continued as a sponsor on the Renault R28.
Mid-way through the 2008 season, ART Grand Prix replaced the underperforming Luca Filippi with Yamamoto. He scored his first-ever points outside Japan with a fourth place in the sprint race at Hungaroring. He retained his ART seat for the 2008–09 GP2 Asia Series, finishing ninth in the championship with a podium at the opening round in Shanghai, though he was outperformed by teammates Nico Hülkenberg and Pastor Maldonado.
On 17 April 2010, Hispania Racing announced Yamamoto as their test and reserve driver. His first free practice session came at the Turkish Grand Prix, where he set the slowest time. On 8 July 2010, team principal Colin Kolles confirmed Yamamoto would replace Bruno Senna for the British Grand Prix; he qualified 24th and finished 20th and last, just behind teammate Karun Chandhok.
Yamamoto replaced Chandhok at the German Grand Prix, retiring after 19 laps with an engine problem, and kept the seat at Hungary, where he was lapped by teammate Senna. At the Italian Grand Prix, he accelerated out of the pits while a mechanic was still connecting his radio, with his rear wing striking the mechanic; the mechanic was taken to hospital for ten days. Yamamoto was replaced for the Singapore Grand Prix by Christian Klien, reportedly due to food poisoning. He returned in Japan, finishing 16th, and came 15th in Korea before Klien took over again for the final two rounds in Brazil and Abu Dhabi.
On 23 March 2011, Marussia Virgin Racing announced Yamamoto as reserve driver for the first three races of the 2011 season.
Yamamoto replaced António Félix da Costa for the 2015 London ePrix, racing for Amlin Aguri alongside Salvador Duran. In Round 10 he qualified 18th and retired with a battery problem. In Round 11 he failed to set a qualifying time after hitting the wall in wet conditions and retired from the race after running into the back of Jarno Trulli. He finished the season without points, classified 35th and last in the standings.
Yamamoto entered the final round of the 2020 Super Formula Lights season at Fuji for B-Max, recording a best finish of seventh in the third race.
Yamamoto has not raced regularly since his Formula E appearances. In 2012, he became the head of a medical and social welfare corporation in Japan, focusing on elderly care, and has continued to lecture and support schools in the same field. He has also worked in racing broadcasting and media. On 31 October 2021, he was elected to the Japanese House of Representatives.
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