Robert Estes (born July 22, 1963 in Norfolk, Virginia) is an American actor.Estes caught the acting bug while training to be a stunt double. One of his first acting jobs was in the daytime drama Days of Our Lives playing Glenn Gallagher (1986â??1987). He later gained widespread recognition for his role as Sergeant Chris Lorenzo in Silk Stalkings (1990â??1995), half of the "dynamic duo" alongside Mitzi Kapture.He played Kyle McBride on Melrose Place (1996â??1999). Following Melrose Place he had guest starring roles on Providence, Suddenly Susan and Law and Order: Special Victims Unit. He also has stage credits including roles in Same Time, Next Year (2004) and The Lake (2005).Estes starred in the original comedic TV movie I Do, They Don't (previously titled Blended), which also starred Josie Bissett. The movie premiered on ABC Family Channel in March 2005. He made his return to series television playing Sean Cole in the ABC television crime drama The Evidence.The actor completed a recurring role on CSI: Miami as Nick Townsend, the abusive ex-husband of Natalia Boa Vista. In the 2007-01-08 episode, he was murdered by the husband of a killer to cover up her crime. Boa Vista, Maxine Valera and Eric Delko were all involved in some way.Estes now portrays Lieutenant Tom Hogan, Inspector Lindsay Boxer's ex-husband and current boss in the ABC police procedural and legal drama the Women's Murder Club which premiered 2007-10-12. The show has been canceled from ABC's lineup.He is currently cast on 90210 for the CW as Harry Mills .He also played a small role on the WB Gilmore Girls as the bad boy Jess's father who lives in CA.