- During his series Spenser: For Hire (1985), Urich had a special agreement with the executives to fly out of state (from Boston, Massachusetts to the West Coast) when needed for his older daughter's medical treatments.
- His final film, Night of the Wolf (2002), aired on Animal Planet the same day that he died.
- Spent latter years devoted to cancer research and education, and he and wife established the Heather and Robert Urich Fund for Sarcoma Research at the University of Michigan.
- Holds the record for having the most series-regular roles on television: 13. Bob & Carol & Ted & Alice (1973), S.W.A.T. (1975), Soap (1977), Tabitha (1976), Vega$ (1978), Gavilan (1982), Spenser: For Hire (1985), American Dreamer (1990) Crossroads (1992) It Had to Be You (1993), The Lazarus Man (1996), Love Boat: The Next Wave (1998) and Emeril (2000).
- Recipient of the Gilda Radner Courage Award from the Roswell Park Cancer Institute.
- National spokesman for the American Cancer Society (1998).
- Attended Florida State University on a four-year football scholarship and was a member of Lambda Chi Alpha fraternity.
- In 1992, he won a News and Documentary Emmy Award as narrator for U-Boats: Terror on Our Shores (1991).
- Urich sued Castle Rock Television for $1.47 million (the amount he would have received for the second season of his television series The Lazarus Man (1996)) on April 11, 2000, saying Castle Rock canceled the series because he had cancer. He alleged he did not receive payments from the company. Apparently, Urich and his production company entered into an agreement with Castle Rock in 1995 for Urich to act in the "Lazarus Man" pilot. Under the deal, he was to be paid $70,000 per episode for the first season and $73,000 an episode the second season. In July 1996, he informed Castle Rock that he had cancer and would have to undergo treatment, but the suit said at no time was Urich unable to perform his duties. Castle Rock terminated the agreement a month later. Urich underwent chemotherapy, radiation treatments and two operations in the mid-1990s to battle a rare cancer, synovial cell sarcoma, which claimed Urich's life in 2002.
- To prepare for his role of Dan Tanna in Vega$ (1978), he packed on 40 pounds of muscle. His weight boosted from a skinny 180 pounds to a solid, muscular 220 pounds.
- Urich was from Toronto, Ohio, where he attended and graduated from Toronto High School in Toronto, Ohio (1964). His wife, Heather Menzies-Urich, was a native of Toronto, Ontario.
- During the late 1970s, many producers hired him because they were impressed with his boyish behavior and looks. Urich himself felt that he never fully matured as much as other men his age since he looked and behaved like a young boy.
- Had three children with Heather Menzies-Urich: Ryan Urich (born 1979), Emily (born 1980) and Allison Grady (born 1998). Had two grandchildren: Michelle (born 2004) and Lana (born 2005).
- Had appeared as a guest-star three times on the original series The Love Boat (1977) and later had the lead role as the captain on the series reboot Love Boat: The Next Wave (1998).
- His star on the Hollywood Walk of Fame was the only one to contain a surname starting with the letter "U" until singer Carrie Underwood received her star in 2018 (Singer Usher, who received his star in 2016, was not the second recipient whose surname begins with "U"; his full name is Usher IV.).
- Younger brother of Tom Urich. Uncle of actor Justin Urich.
- Posthumously inducted into the Lou Holtz/Upper Ohio Valley Hall of Fame (2002).
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