Vemana came into contact with Lambika siva yogi in Kondaveedu, who initiated him into the path of Yoga. After this, Vemana travelled across the state, composing poetry and attaining success in yoga.
Vemana composed numerous poems in the vernacular of Telugu. His poems are four lines in length. The fourth line is, in majority of the cases, the chorus Viswadabhirama Vinura Vema - he thus conveyed his message with three small lines written in a simple vernacular. He traveled widely across south India, acquiring popularity as a poet and Yogi. People really took to Vemana's poems owing to their simple language and sweet message. So high was the regard for Vemana that a popular Telugu saying goes 'Vemana's word is the word of the Vedas'. He is celebrated for his style of Chaatu padyam, a poem with a hidden meaning.
C.P. Brown translated most of Vemana's poems into English, during the British occupation of India. A large selection of his poems are a part of the present High School curriculum of Telugu in Andhra Pradesh. In his honor, The Andhra Pradesh government named a University in Kadapa the Yogi Vemana University in 2006. Vemana was believed to have lived for some time in the Gandikota area of Kadapa.