The actor reportedly fell and banged his head outside his Hollywood home and was pronounced dead upon arrival at hospital on Wednesday (24Mar10).
Culp began acting in the early 1950s and went on to become a prolific TV star, appearing in hit shows like Bonanza, The Man from U.N.C.L.E., The Greatest American Hero and Police Story.
As well as I Spy, he'll be best known for playing comedian Ray Romano's father in Everybody Loves Raymond.
Culp also enjoyed success as a movie star, appearing in films like Spy Hard and The Pelican Brief, opposite Julia Roberts.
He was working right up to his death - his final film, The Assignment, is currently in post-production.