Best known for his role as Robin on the 1960s TV adaptation of Batman, he went on to act in more than 40 TV movies.
He worked part-time at his father's real estate company after graduating college.
He was listed as the world's youngest professional ice skater when he was two years old.
He married Bonney Lindsey in 1965, and the couple had a daughter named Lisa in 1966.
He recorded the song "Boy Wonder, I Love You," written by Frank Zappa.