He appeared in the films ' and ' as Fleet Admiral Cartwright of Starfleet Command. Peters portrayed , father of Deep Space Nine's commanding officer, Benjamin Sisko, on '. In 1993, he was a member of the jury at the 43rd Berlin International Film Festival. In early 2005, six months before his death, Peters guest-starred in an episode of "JAG" during its final season, "Bridging the Gulf", season 10 episode 15. Peters worked with Charlton Heston on several theater productions in the 1940s and 1950s. The two became friends and subsequently worked together on several films, including "Major Dundee", "Soylent Green", and "Two-Minute Warning". He voiced Lucius Fox in several episodes of ' and Morris Grant/Soul Power in the animated series "Static Shock" (2000–2004).