He joined the Connecticut Militia in June 1776 and was assigned duty in the New York City area, then under General George Washington's command, arriving just before the opening of the British Long Island Campaign. His first tour of duty ended in December 1776, and he returned home just prior to the Battles of Trenton and Princeton.

After a restless winter and spring back in Connecticut, the 16-year-old veteran enlisted in the Continental Army on April 22, 1777, signing on for the duration of the American Revolutionary War. He served with the 17th Continental Regiment under the command of General James Varnum.

Martin participated in such notable engagements as the Battle of Brooklyn, the Battle of White Plains, the siege on Fort Mifflin and the Battle of Monmouth. He encamped at Valley Forge, witnessed John Andre being escorted to his execution and was also present during the climactic Siege of Yorktown. He was assigned to the Light Infantry in 1778, attaining the rank of Corporal. In the summer of 1780, under Washington's order to form a Corps of Sappers and Miners, he was recommended by his superior officers to be a non-commissioned officer of this regiment, and in being selected, was promoted to Sergeant. Prior to Yorktown, the corps was responsible for digging the entrenchments for the Continental Army.

During the battle, they were also a vanguard for a regiment commanded by Alexander Hamilton, clearing the field of sharpened logs called abatis so that Hamilton's regiment could capture Redoubt #10.