Huntelaar was born in Voor-Drempt, a village in the Achterhoek region of Netherlands, but moved to Hummelo when he was six weeks old. He lived with parents Dirk-Jan and Maud Huntelaar, and his two brothers Niek and Jelle.

Huntelaar joined local club VV H. en K at the age of six along with his brothers. The Prodigy spent six years training with the club before he was scouted by De Graafschap, with whom he signed his first youth contract in 1994, at the age of 11. It was at De Graafschap where Huntelaar blossomed into a brilliant striker.