Los Angeles, California (CNN) -- Robert Culp, the actor who rose to fame as secret agent Kelly Robinson on the groundbreaking 1960s TV series "I Spy" and later played Ray Romano's father-in-law on "Everybody Loves Raymond," has died. He was 79. Culp died after falling on a sidewalk near a Los Angeles park, said his publicist, Dick Delson. Delson had no further details. The versatile Culp not only acted in "I Spy," which aired on NBC from 1965 to 1968, he also wrote several episodes. The series, which also starred Bill Cosby as Robinson's partner (and, as their covers, trainer to Culp's globe-trotting tennis player), was the first to feature an African-American in a lead role; Cosby won three Emmys for his work.
@highlight
Culp, 79, gained TV stardom in 1960s with "I Spy"
@highlight
He also played father-in-law in "Everybody Loves Raymond"
@highlight
Movie roles include 1969's "Bob & Carol & Ted & Alice," "The Pelican Brief" in '93
Culp and @placeholder remained good friends after the series left air.