[4] He was known for playing Tom McLowery in the final season of the American western television series The Life and Legend of Wyatt Earp.

Palmer was born in San Francisco, California,[3] He served in the United States Army Air Corps as a cryptographer in World War II.

[5] He began his acting career in 1950 with the uncredited role of an ambulance driver[5] in the film My Friend Irma Goes West.

[6] Palmer guest-starred in numerous television programs, including Gunsmoke, Bonanza, Wagon Train, Kolchak: The Night Stalker, The Virginian, The Wild Wild West, Rawhide, Star Trek: The Original Series, Mannix, Mission: Impossible and Death Valley Days.

[5][6] He also appeared in films, including Big Jake, Rio Lobo, Magnificent Obsession, To Hell and Back, The Shootist, The Rebel Set, Zombies of Mora Tau,[7] Taza, Son of Cochise, Francis Goes to West Point and The Creature Walks Among Us.