Bob Stoker was first elected to Belfast City Council in 1995, representing the Ulster Unionist Party (UUP). He was re-elected in 1997, 2001, 2005 and 2011.

In 1996, Stoker was elected to the Northern Ireland Forum. Stoker was appointed to the Belfast Education and Library Board in 2007. He served as Economic and Cultural Development Officer with Greater Village Regeneration Trust and as Chairperson of the Board of Governors of Donegall Road Primary School.

Stoker left the UUP in 2014 and joined the UK Independence Party (UKIP). Stoker was selected as the Vice Chairman of UKIP in 2015.