He played basketball for the UCLA Bruins, winning two national titles (1967, 1968) and earning first-team All-American honors.

In 1979, he starred as police officer Willie Miller on the CBS crime drama Paris, the first effort by Hill Street Blues executive producer Steven Bochco.

[citation needed] He guest starred in In the House opposite LL Cool J as Debbie Allen's ex-husband.

He had a recurring role on the ABC Family series Lincoln Heights as Spencer Sutton, Eddie's father.

Warren appeared as Virgil Tibbs' former longtime police partner and friend, Matthew Pogue on In the Heat of the Night episode "The Hammer and the Glove", which aired in 1988.

After his first marriage ended in divorce, Warren married Jenny Palacios, with whom he also had a daughter, Makayla, and a son, Grayson Andres.

[citation needed] Through Cash, Warren was the father-in-law of American actress Jessica Alba[8] until they announced their divorce in early 2025.