After spending one season playing for AS Saint-Étienne in the 1951–52 season, Robert Héliès became a football referee. From 1962 to 1977 Héliès officiated in some 270 matches in France’s Ligue 1, along with the finals of the Coupe de France in 1970 and 1975. In club football he also was the referee for several matches in UEFA competitions, including the Champions League and the 1972 European Cup final in De Kuip, Rotterdam between Ajax and Inter Milan. From 1966 to 1977 Héliès worked as a FIFA official, overseeing 13 matches including three World Cup qualifiers and the game between the Soviet Union and Canada at the 1976 Montréal Olympics.