Though Johnson is best known for his television work on Miami Vice for which he won a Golden Globe for Best Actor in a Television Series in 1985 and Nash Bridges, he trained as a stage actor at San Francisco's American Conservatory Theatre. He had his first major role was onstage when he played Smitty in the 1969 Los Angeles production of Fortune and Men's Eyes. He has also had a recording career with his hit single "Heartbeat," the title track of his 1987 debut album that reached Number 5 on the Billboard charts. A second album, Let It Roll, followed in 1989. He also recorded a duet with Barbra Streisand called "Till I Loved You" that was the theme song to the 1987 film Nuts, in which she starred. His film credits include The Hot Spot, Harley Davidson and the Marlboro Man, Paradise, Born Yesterday, Guilty as Sin, In Pursuit of Honor, Tin Cup and Goodbye Lover.