He is perhaps best known as the aggressive attorney Arnold Drake Ripner in six episodes of the television series Barney Miller, and he guest-starred in a seventh episode in the character role of an expert forger.

Henteloff appeared as Doug Porterfield in 14 episodes of The Betty White Show (1977-78).

His many TV appearances include I Spy, Mannix, Streets of San Francisco (three episodes), Baretta, Family Ties, The Mary Tyler Moore Show, McCloud, Cannon, Ironside, M*A*S*H, Pistols 'n' Petticoats, Charlie's Angels, Dynasty (two episodes), Murder, She Wrote, Soap, Quincy, M.E., ALF, Melrose Place, Simon & Simon (four episodes), Hill Street Blues, St.

He was a regular on the 1973 situation comedy Needles and Pins playing Myron Russo.

He also appeared in some feature film roles including Slither (1973), Hardly Working (1980), Star Trek IV: The Voyage Home (1986), and Payback (1999).