Windom won an Emmy for his turn as writer John Monroe on the 1969 NBC comedy My World and Welcome To It and later developed a one-man touring show inspired by the series.
He went on to guest-star on several series, including The Twilight Zone and Star Trek, and appeared in more than 50 episodes of Murder, She Wrote as Dr. Seth Hazlitt, opposite Jessica Fletcher (Angela Lansbury). Windom also played the prosecuting attorney in the 1962 film adaptation of To Kill a Mockingbird.
Born in New York City, Windom was a paratrooper in World War II and attended several colleges, including the University of Kentucky and Williams College in Massachusetts, the AP reports. His great-grandfather, after whom he was named, was the Secretary of the U.S. Treasury under President Benjamin Harrison at the turn of the 19th century.
Windom is survived by his fifth wife, Patricia, as well as four children, Rachel, Heather, Hope and Rebel.