Culp appeared in films Jason Goes to Hell: The Final Friday (1993), James and the Giant Peach (1996), The Emperor's Club (2002), and most notably in the 2000 political thriller Thirteen Days playing Robert F. Kennedy.
On television, Culp had recurring roles as Clayton Webb in the CBS procedural JAG (1997–2004), and Speaker of the United States House of Representatives Jeff Haffley in the NBC political drama The West Wing (2003–2005).
Culp is known for his recurring roles as CIA Agent Clayton Webb on JAG (1997–2004) and Major Hayes on Star Trek: Enterprise (2003–2004).
Culp portrayed Robert F. Kennedy twice, in the HBO movie Norma Jean & Marilyn (1996) and the film Thirteen Days (2000).
[2][4] He played Commander Martin Madden in Star Trek: Nemesis (2002), a character written to replace William Riker as first officer of the Enterprise.
Other performances include playing the leading role of the photographer Richard Stewart in the English as a Second Language educational video series Family Album, U.S.A.
The following years, Culp guest-starred on number of shows, including NCIS, The Closer, Criminal Minds, Body of Proof, How to Get Away with Murder, Dynasty, American Horror Story: 1984 and 9-1-1.