He also performed in Shakespearean plays at San Diego's Old Globe Theatre and worked as a repertory actor in New York and New Orleans[4] before becoming a client of the William Morris Agency.

[6] In 1967, Martin was signed as a contract player at Universal Studios after being recommended by June Havoc, who saw him perform when they were both working at the New Orleans Repertory Company.

[2] He considered himself to have been typecast as a villain, saying that Hill Street Blues "was the first time in my career I played a part where I wasn't some terrible creep.

He wrote and performed the song "Not for Long" for the 1972 made for TV movie The Catcher, also co-writing the film's title track with Jackie DeShannon, who sang it.

[16] He had earlier sung the blues song "Alberta" on The Virginian and Tom Paxton's "I'm Bound for the Mountains and the Sea" for the soundtrack of Then Came Bronson, accompanying himself on acoustic guitar.

[17][18] To prepare for the role, Martin rode the "Skid Row Beat" with cops in Los Angeles, and he later visited officers injured in the line of duty.

"[3] Though LaRue boasts of "two medals of valor, three citations for bravery"[21] and "a higher arrest tally than any clown in this room,"[22] his many vices often threaten to derail his police career.

In the final episodes of the first season, "Rites of Spring" and "Jungle Madness", each two hours long, Hill Street precinct captain Frank Furillo (Daniel J. Travanti) gives LaRue an ultimatum to either face his drinking problem or leave the force.

[23] Though LaRue, at last, conquers his addiction in the second season, for the rest of the series he remains a womanizer and a frequent orchestrater of scams, get rich quick schemes, and sometimes dangerous practical jokes.

[3] He often appears onscreen paired with his partner and best friend Detective Neil Washington (Taurean Blacque) who alternates between being LaRue's conscience and co-conspirator.

It was one of two interracial partnerships on the show, Martin commenting "my character is involved in enough screwups and career-shortening attitudes that he doesn't need to be a racist on top of it.

[24][25] He continued to be a frequent television guest star, appearing on The Love Boat, Father Dowling Mysteries, Miami Vice, Murder, She Wrote, and two episodes of Steven Bochco's LA Law.

He also played Eckels in an episode of The Ray Bradbury Theatre in an adaption of the science fiction short story "A Sound of Thunder."

He explained that the episodes "Rites of Spring" and "Jungle Madness" where LaRue confronts his worsening addiction and eventually joins AA "were written as a message of love to me.

Merwin J. Toomey in a Calgary production of Neil Simon's Biloxi Blues[39] when he was forced to leave the play following chest pains.

[33] Martin died of cardiovascular collapse caused by lung cancer, aged 46, at his home in Rancho Mirage, California.