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Daniels was born in Brooklyn, New York, where he grew up and attended school. He was a student at the High School of Music and Art, and obtained his bachelor of arts degree in theater from Northwestern University.

An eminently successful stage, television and film actor, he is perhaps best known for his portrayal of Dr. Craig on the critically acclaimed series, St. Elsewhere, for which he received six nominations and two Emmy Awards as Outstanding Lead Actor in a Drama Series.

Daniels' other television credits include roles in the TV movies, A Case of Rape, Rehearsal for Murder, Blind Ambition and The Adams Chronicles. He enjoyed starring roles on the television series, Captain Nice, The Nancy Walker Show and Freebee and the Bean, and was the voice of KITT, the car, on Knight Rider.

Daniels appeared in the film versions of the theatrical hits, 1776 and A Thousand Clowns, as well as in The Graduate, Black Sunday, Two for the Road, The Parallax View and, more recently, Her Alibi and Blind Date.

On stage, he performed in A Little Night Music, The Zoo Story, 1776, One Flew Over the Cuckoo's Nest, Dear Me, the Sky Is Falling and A Thousand Clowns.

Daniels enjoys playing the classical guitar and busying himself with chess, tennis, reading and cooking. He and his wife, actress Bonnie Bartlett (who was also his TV wife on St. Elsewhere), are the parents of two grown sons: Robert and Michael.