He was born in New York City to a stage actress and radio actor. He began studying journalism at the University of Minnesota, but moved to Los Angeles with his mother. He transferred to Los Angeles State College of Applied Arts and Sciences and earned a master’s degree in theater.
Vaughn starred in 105 episodes of the spy show from 1964 to 1968. Vaughn starred in 16 episodes of The Lieutenant and on The Protectors from 1972 to 1974. His extensive career includes 226 credits across film and TV, beginning in 1955 with an episode of Medic. He was in Father Knows Best, Gunsmoke, The Magnificent Seven, Captains and the Kings, Centennial, Superman III, Emerald Point NAS, The A-Team, The Magnificent Seven TV show, and Hustle. His final credit was in Gold Star in 2016.