Urich is best known for playing private investigators on the television series Spenser: For Hire (1985–1988) and Vega$ (1978–1981). He also acted in many other television series over the years including: S.W.A.T. (1975), Soap (1977) and The Lazarus Man (1996). He was also known for staring in the movie A long Way Home which was released in 2003.
From 1975 until his death, Urich was married to actress Heather Menzies.