Antonie van Steenwinckel was the son of Hans van Steenwinkel II and Trine (Cathrine) Willum Hübers datter, brother of Hans van Steenwinkel III. He married Christine Brinck in 1678, and later to Marie de Grot, in the Vor Frelser Kirke, Christianshavn.

After his death his inventory, including many drawings and prints, was auctioned in Copenhagen (December 4, 1688).

From 1671 onwards he delivered paintings to the king and restored older paintings, mostly at Rosenborg Castle; royal portrait painter from 1681-1688.

He painted a series of designs for tapestries to commemorate the victories of Christian V during the Scanian War. Nicodemus Tessin the Younger saw these designs when visiting Van Steenwinckel's studio in 1687.

He also painted horses very well, which he probably learned from his uncle, Morten van Steenwinckel