Culp portrayed Robert F. Kennedy twice, in the HBO movie "Norma Jean & Marilyn" (1996) and the film "Thirteen Days" (2000). He played Commander Martin Madden in ' (2002), a character written to replace William Riker as first officer of the "Enterprise". However, due to the film's length, Culp's scenes were included in several cut from the final film. His scenes as Madden can be seen in the "Nemesis" DVD deleted scenes. In the third season of ', Culp played the recurring character Major Hayes, leader of the M.A.C.O.s. He was in five episodes; "The Xindi", "", "", "" and "", where Hayes was shot saving a fellow crewmember. Other performances include playing the leading role of the photographer Richard Stewart in the English as a Second Language educational video series "Family Album, U.S.A." He also had a role as antagonist Peter Drummond in the television movie "How to Make a Monster", in which computer game programmers accidentally give life to a deadly AI and members of a software company attempt to beat the game to save their lives.