Best remembered for his roles in the early 1970s movies Blacula and Scream Blacula Scream, this popular actor also appeared in Star Trek (as Dr. Richard Daystrom) and in Pee-Wee's Playhouse (as the King of Cartoons). Also a stage actor, he performed in Broadway productions of The Green Pastures and Carmen Jones.
After studying visual art at New York University, he trained at a number of famous acting schools, including the Actors Studio and Sanford Meisner's Neighborhood Playhouse.
He co-starred with Jerry Lee Lewis in a musical theater adaptation of Shakespeare's Othello.
He had a more than four-decade relationship with Sylvia Gussin Jarrico. Between 1954 and 1986, he fathered four children: Claude Marshall, Malcolm Juarez, Gina Loring, and Tariq Marshall.
Actor Sidney Poitier delivered the eulogy at Marshall's funeral.