Danvers was the eldest son of Samuel Danvers of Swithland and his wife Elizabeth Morewood, only daughter of Joseph Morewood, merchant, of London and Overton, Derbyshire. He succeeded his father in 1693. He was admitted at Lincoln's Inn on 14 January 1709. In 1721, he succeeded to the Oxfordshire estates of his mother’s second husband, John Danvers. He married Frances Babington, the daughter of Thomas Babington of Rothley Temple, Leicestershire on 7 December 1721.He was elected a Fellow of the Royal Society in 1724 .
Danvers was appointed High Sheriff of Leicestershire for 1721 (June to December). He was returned as Member of Parliament (MP) for Boroughbridge at a by-election on 24 October 1722 by the Duke of Newcastle at the request of Lord Sunderland. He was a frequent speaker in Parliament. At the 1727 British general election he was returned as MP for Bramber. He switched seats and was returned as MP for Totnes at the 1734 British general election. He was returned again at the 1741 British general election and was made a baronet in 1746 before his retirement at the 1747 British general election.
Danvers died on 21 October 1753 and was buried at St Leonard's churchyard, Swithland in a tomb built half inside the graveyard and half outside on Danvers' estate to allow his favourite dog to be buried with him (the dog being buried on unconsecrated ground). He had one son John who succeeded to the baronetcy and four daughters.
- "DANVERS, Joseph (1686-1753), of Swithland, Leics". History of Parliament Online. Retrieved 22 April 2019.
- Admissions Register VOL 1 1420-1799. The Honourable Society of Lincoln's Inn. 1896.
- "Fellow Details". Royal Society. Retrieved 20 January 2017.
- "No. 8549". The London Gazette. 1 July 1746. p. 3.
- Dare, Paul (1925) Charnwood Forest and its Environs, Edgar Backus, pp. 96–97.
|Parliament of Great Britain|
| Member of Parliament for Boroughbridge
With: James Tyrrell
Sir Richard Gough
| Member of Parliament for Bramber
With: Sir Richard Gough 1727–1728
John Gumley 1728
James Hoste 1728–1734
Sir Henry Gough
Sir Henry Gough, Bt
Sir Charles Wills
| Member of Parliament for Totnes
With: Sir Charles Wills 1734–1742
John Strange 1742–1747
|Baronetage of Great Britain|
|New creation|| Baronet