He also appeared in "The Rockford Files". These programs were all made by Universal Studios so it is rather surprising if he didn't appear in Columbo since the actors with Universal went from one show to the other. I have the episode of Banacek he appears in. He usually plays very slimy characters and he was true to form in that one.
Dick Gautier never appeared with Columbo to my knowledge...but his wife did!
Dick was married to Barbara Stuart, who played Claire Fleming (the murder victim) in "Enough Rope", the 1961 TV drama that marked Columbo's first appearance.
See the Scrapbook article, "Enough Rope - The Very First Columbo". It's also linked from the home page.
Barbara is best remembered as "Miss Bunny", Sgt Carter's girlfirend in "Gomer Pyle, USMC". But before that, she was the very first murder victim to be avenged by Lieutenant Columbo.