Ingels was born in Brooklyn, New York City. He began his career in 1958. He was previously married to Jean Marie Frassinxlli from 1964 until their divorce in 1966. He then married actress Shirley Jones in 1977. Ingels died from a massive stroke at Tarzana Medical Center in Tarzana, Los Angeles, on October 21, 2015, at the age of 79.