Alongside his artistic career, Lloyd was a dedicated teacher and a fierce advocate for community involvement in the arts. Lloyd held teaching positions at Sarah Lawrence College in Bronxville, New York, and at Cooper Union in New York City; served as Art Consultant for the Mental Health Services at the Lincoln Hospital in Bronx, New York; and developed art workshops for youth and adults throughout New York City. He was heavily involved in the Art Workers’ Coalition, which formed in 1969 to pressure the city’s museums to implement political and economic changes. In 1971, Lloyd reclaimed an abandoned warehouse in South Jamaica, Queens, New York, and established the Store Front Museum/Paul Robeson Theatre—Queens’s first art museum. For sixteen years, the Store Front Museum presented performances and exhibitions centered around Black art and culture and offered dance, karate, and exercise classes; annual festivals; and numerous other community programs. Lloyd’s activism in Queens continued up until his death.

Lloyd attended the Pratt Institute (1949–1952) and Brooklyn Museum Art School (1961). His electronically programmed light works are held in the collections of the Studio Museum in Harlem; Richard and Carole Cocks Art Museum at Miami University; Grey Art Museum at New York University; and several private collections.