Camp was born in London and was evacuated during World War II to the United States as a child with his mother and sister.

For a few years, he billed himself as Hamid Hamilton Camp; in this period, he was leader of a group called Skymonters that released an album in 1973 on Elektra.

In 1969 Camp formed a group called The True Brethren with Waqidi Falicoff (guitar, vocals), Raphael Grinage (cello) and Loren Pickford (flute and saxophone).

His television work includes a supporting role on He & She, a sitcom starring Richard Benjamin and Paula Prentiss, which ran for one season in 1967–68.

In 1980, he appeared as a semi-regular on Too Close for Comfort as Arthur Wainwright, the adventurous, youth-oriented boss of Henry Rush, and on the FOX sitcom Titus as Erin Fitzpatrick's alcoholic father, Merritt.

He was the voice of Fenton Crackshell, aka GizmoDuck, on the Disney animated series DuckTales and its spinoff Darkwing Duck.

Camp's final work was on the film Hard Four in early 2005, as well as a musical album produced by James Lee Stanley called Sweet Joy, completed shortly before his death.