He died in his sleep at Cedars-Sinai Medical Center, his niece, Shellie Lavaris, told The Hollywood Reporter.
Colman got his start in show business as a child actor in local theater performances. He later attended the University of Washington and the University of Michigan, where he launched a radio career.
Colman studied acting under Maurice Evans, who played Dr Zaius in the 'Planet of the Apes' films.
He later took on the role of Dr Zaius for the 'Planet of the Apes' television series. The role thrust Colman into the spotlight for fans of the show, who regularly sent him mails asking for autographs and invited him to appear at film conventions.
On Broadway, Colman worked alongside Basil Rathbone, Fredric March and Charlie Chaplin Jr.
He particularly enjoyed playing Ebenezer Scrooge in Charles Dickens' 'A Christmas Carol', a performance he repeated more than 500 times since 1981 at the Meadow Brook Theatre in Rochester, Michigan.
