Culp appeared in a recurring role as Archie Whitman, the depression-era father of Jon Hamm's character Don Draper in the AMC series Mad Men. He was the first actor ever to play Doctor Doom in the first film version of Marvel Comics' Fantastic Four in the unreleased film, The Fantastic Four. He also narrated the film September 11—The New Pearl Harbour by Massimo Mazzucco.

Culp also featured in the neo-noir detective video game L.A. Noire as Walter Robbins in the homicide case "The Studio Secretary Murder".

He co-founded the Walking-In-Your-Shoes technique with Joseph Cogswell, a body-mind approach. In 1992, he and Cogswell founded the Walking Theatre Group, based in Los Angeles.

He is the uncle of American rapper Bones.

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