He was the chairman of the Albany Committee of Correspondence from 1774 to 1776. Yates was also a member of the New York Provincial Congress from 1775 to 1777 and was its chairman in 1776 and 1777.
He was a delegate for New York to the Congress of the Confederation in 1787 and 1788 as well as a New York State Senator from 1777 to 1790, and a member of the Council of Appointment in 1777-78 and 1784.
Yates was a presidential elector in 1792, and cast his votes for George Washington and George Clinton.