Starting in 1977, Estrada co-starred as Frank "Ponch" Poncharello in the TV series "CHiPs". In 1978, he began training in martial arts with SeishinDo Kenpo instructor Frank Argelander (Frank Landers), to prepare for a two-part episode of the series. The two appeared on the cover of "Fighting Stars Magazine" that same year, discussing Estrada's training regimen. On Monday, August 6, 1979, Estrada was seriously injured while filming a scene on the set of "CHiPs", fracturing several ribs and breaking both wrists after he was thrown from his motorcycle.