Culp married five times and was the father of three sons, Joshua (1958), Jason (1961) and Joseph (1963), and two daughters, Rachel (1964) and Samantha (1982). From 1967 to 1970, he was married to Eurasian actress France Nuyen, whom he had met when she guest-starred on "I Spy". She appeared in four episodes, two of them written by Culp himself.