Ipalé was born in Morocco on December 27, 1941. He arrived in present-day Israel with his family when he was just two years old as part of the early migration of Moroccan Jews to Israel. Ipalé enrolled in a theater school in London following his Service in the Israeli Army. He began his acting career by appearing in British television series and theater productions, including the television mini-series, Christ Recrucified, in which he played the title role of Jesus Christ.

Ipalé was cast as Joshua in the 1973-1974 British mini-series, Moses the Lawgiver, which starred Burt Lancaster as Moses. His work in Moses the Lawgiver earned attention from Hollywood and led to his later work in the United States. His American television credits during the 1970s and 1980s included Hawaii Five-O, Dynasty, Kojak, The Love Boat, MacGyver, Miami Vice and Charlie's Angels.

In 1985, Ipalé appeared in the British dramatic film, The Shooting Party, which starred James Mason and John Gielgud. That same year, Ipalé appeared in the Israeli film, Gesher Tzar Me’od (1985). Two years later, he co-starred in the 1987 film, Ishtar, which was a notorious critical and box-office failure. More recently, Ipalé was best known for his recurring role as Pharaoh Seti I in The Mummy and its sequel, The Mummy Returns, both of which were directed by Stephen Sommers. In 2007, he appeared in Charlie Wilson's War.

Ipalé returned to Israel around 2012 after decades residing and working in London and Los Angeles. However, he was unable to recreate the professional success in Israel that he had enjoyed abroad.

Aharon Ipalé died from cancer at Sheba Medical Center in Tel Hashomer on June 27, 2016, at the age of 74. He was being treated for the disease for several months. Ipalé, who was survived by his daughter, was buried in Holon.