He has three daughters, Ashley (b. circa 1962), Brooke (b. circa 1964), and Deva (b. circa 1966).
His first wife was the daughter of Alan Ladd.
In "The Six Million Dollar Man" (1974), Richard's character worked for a government department called the OSI. In real life, he did an orientation video for a real government department called the OSI, which was very different from the fictional one.
In July 2005, appeared as a guest at the Western Film Fair in Charlotte, North Carolina along with Ty Hardin, Henry Darrow, Donna Douglas, Elena Verdugo, Jo Morrow, Ed Nelson and Lorna Gray.
Influenced to become an actor after seeing Gary Cooper on the screen, his initial screen test for MGM was from Cooper's The Cowboy and the Lady (1938). He later had the privilege of meeting the star.
Is a spokesperson for the Kiplinger Newsletter and The Fragile X Foundation and serves on the Board of Directors of Veteran's Park.
Is one of the very few actors to play the same regular character on two different series simultaneously. From 1976 to 1978, he played Oscar Goldman on both "The Six Million Dollar Man" (1974) and "The Bionic Woman" (1976). Leo G. Carroll, Martin E. Brooks, David Hasselhoff and Fred Dalton Thompson are among the other actors to have done this.
Studied at the Actors Laboratory in Los Angeles, which later became the Actors Studio in New York.