After the death of his father, Prince Ivan Mikhailovich Vorotynsky, he remained the only representative of the princely family in the male line.
Alexei Ivanovich's activity did not have the scope of that of his forebears. At the age of 15 he was raised to the rank of stolnik (court steward). From 1629 he held various posts at the tsar's court. In 1642 he was sent to Tula to repel the Crimeans.
He was married to Maria Lukyanovna Streshneva. Her sister Yevdokia was the wife of Tsar Mikhail Fyodorovich and the mother of Tsar Alexei the Quietest.
His patrimonial estates were inherited by his son Ivan Alekseyevich Vorotynsky