Culp appeared twice on Broadway, in 1956's Diary of a Scoundrel and 1957's A Clearing in the Woods, as well as in the 1956 Off-Broadway play He Who Gets Slapped.

He received four Emmy Award nominations for I Spy, including one for writing. Culp worked regularly in television for over 50 years, including notable roles in the series The Greatest American Hero and Everybody Loves Raymond.