Carlton was elected to parliament as the Lang Labor member for the safe Labor seat of Glebe at the 1935 state election. He replaced the incumbent Lang Labor member Tom Keegan who had retired. The following year Lang's party and its Members of Parliament, including Carlton, were readmitted into the Labor Party. At the next election in 1938, Carlton faced a strong challenge from Horace Foley, the candidate for Robert Heffron's breakaway Industrial Labor Party, which Carlton won by less than 2% of the vote. Glebe was abolished by a redistribution at the 1941 and Carlton won Labor endorsement for the marginal seat of Concord. In Labor's landslide victory at that election, Carlton defeated the sitting incumbent United Australia Party member Stan Lloyd. Carlton retained the seat for Labor until his death in January 1949. He was the Labor Party whip between 1941 and 1947 but did not hold any other party, parliamentary of ministerial office.