Prior to spending over a decade in the last incarnations of Soft Machine, he spent time in a number of jazz groups, along with the Graham Collier Band and Nucleus; he also leant his services to recording sessions and tours for PJ Proby and Scott Walker.

Along with John Marshall, the Welshman navigated Soft Machine through most of the '70s, which saw the group developing their sound significantly away from their earlier years. After the band decided to call it quits, Jenkins turned to film, TV, theater, and orchestra work. In the '90s, he spearheaded Adiemus, a studio project that released a series acclaimed ethno-classical discs. He has recorded under his own name as well, including 1998's Imagined Oceans. ~ Andy Kellman