Salem Poor was a born a free Black sometime in the early 1750s. Little is known of his early life or of his life after the war. In 1775 Salem Poor joined a Massachusetts Militia company commanded by Benjamin Ames. He is believed to have fired the shot that killed a high ranking British officer, Lt. Col. James Abercrombie. Whatever the case, his conduct was so exceptional that it was noted in a petition to the Massachusetts Legislature signed by fourteen of his officers. 

The petition stated, "A Negro called Salem Poor of Colonel Frye's regiment, Captain Ames' company, in the late battle at Charlestown, behaved like an experienced officer, as well as an excellent soldier. It would be tedious to go into more detail regarding his heroic conduct. We only beg leave to say, in the person of this said Negro centers a brave and gallant soldier."

Salem Poor went on to fight at White Plains and was with Washington at Valley Forge.