Noble costarred on Benson from 1979 to 1986, playing the boss/foil to Robert Guillaume‘s title character.
Noble was born in Dallas on March 5, 1922. He served in the Navy during World War II. Upon returning, he studied acting under legendary instructor Lee Strasberg at the Actors Studio, and rose up as a Broadway actor before breaking into television.
He is survived by his daughter, Jessica Katherine Noble Cowan. His wife Carolyn Coates died in 2005.
Source: TV Guide