Yvonne Joyce Craig ( May 16 , 1937 -- August 17 , 2015 ) was an American ballet dancer and actress best known for her role as Batgirl in the 1960s television series `` Batman '' , and as the Orion slave girl Marta in the '' episode '' ( 1969 ) .
Yvonne Joyce Craig ( May 16 , 1937 -- August 17 , 2015 ) was an American ballet dancer and actress . She is best known for her role as Batgirl from the 1960s TV series `` Batman '' and as the Orion Marta in the '' '' .