Actor of stage and television who played Detective John Bosley in the hit TV series Charlie's Angels from 1976 to 1981, and also starred on Fantasy Island.
He made his film debut in 1959's Happy Anniversary.
He voiced Grandpa Lou Pickles on the hit Nickelodeon animated series Rugrats.
He married three times. His sister, Mary Doyle, was also an actor, though mostly on stage.
He appeared in a 1971 episode of The Doris Day Show.