In 1963 he starred in her first television series "The Lieutenant", as Captain Ray Rambridge. In 1970s worked in the TV mini-series "Captains and the Kings" (1976), "Washington: Behind Closed Doors" (1977), and "Centennial" (1978-1979). Robert Vaughn also worked for the British television. He starred in series "The Protectors" (1972-1974). Vaughn played the role of Harry Rule for 52 episodes of the series. In 1986, he was hired to play the role of General Hunt Stockwell, in "The A-Team", with George Peppard.