Joseph Campanella, a versatile actor whose television career began in the 1950s on anthology series and continued for decades on shows like “Mannix,” “The Bold Ones” and “One Day at a Time,” died on Wednesday at his home in the Sherman Oaks neighborhood of Los Angeles. He was 93.

His wife, Jill Campanella, said the cause was complications of Parkinson’s disease.

For many years, Mr. Campanella appeared to work to the point of ubiquity. Tall and lean, with wavy hair, he played doctors, lawyers, criminals, cops and judges, including one named Judge Joseph Camp on the TV show “The Practice” from 1998 to 2001.

He starred in “The Bold Ones: The Lawyers,” with Burl Ives and James Farentino, and “The Doctors and the Nurses,” with Michael Tolan. And he was a regular on the first season of “Mannix,” the long-running detective series starring Mike Connors, but left in 1968 when he was told that his role would be reduced.

Mr. Campanella found his stride as a frequent guest star. He was a crafty criminal suspected of planning a prison break in a 1966 episode of “The F.B.I.”; a cattleman on “Gunsmoke” in 1968; and Mary Richards’s hard-to-forget ex-boyfriend on “The Mary Tyler Moore Show” five years later. And in eight episodes of the sitcom “One Day at a Time,” from 1976 to 1982, he played the ex-husband of Ann Romano, the character played by Bonnie Franklin, the star.