Handsome, long-faced African-American performer of film, TV and stage who received his break when he assumed the role of C.J. in the hit Off-Broadway production of "A Soldier's Play". His significant association with TV producer-writer Steven Bochco began with an appearance as a militant cop in an episode of "Hill Street Blues". McDaniel has subsequently starred in two Bochco police series: the short-lived musical program, "Cop Rock" (ABC, 1990) and the controversial drama, "NYPD Blue" (ABC, from 1993 to 2001). In the latter, he was Lieutenant Arthur Fancy, sort of a black variation of Daniel J. Travanti's "anchor" role on "Hill Street Blues".
McDaniel's impressive theater credits have included the Broadway productions of John Guare's "Six Degrees of Separation" (in the starring role he originated Off-Broadway), "Someone Who'll Watch Over Me", as a political prisoner opposite Stephen Rea, and August Wilson's "Joe Turner's Come and Gone". He also acted in John Malkovich's Off-Broadway production of Lanford Wilson's "Balm in Gilead". McDaniel has appeared in several features, including "Alice" (1990), "Strictly Business" (1991) and "Malcolm X" (1992).