The 1960s TV star passed away after collapsing and hitting his head outside of his home in Hollywood. He was taken to hospital and doctors pronounced him dead before noon.
Culp's son was apparently told that his father died of a heart attack, but an official cause of death has yet to be released.
The actor co-starred with Bill Cosby on the popular NBC series I Spy and also appeared in the 1980s ABC show The Greatest American Hero and NBC's Columbo.
His acting career spanned 40 years and included the films Bob & Carol & Ted & Alice and The Pelican Brief. Culp most recently had a recurring role on sitcom Everybody Loves Raymond.
Culp had been writing screenplays before his death.