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Detective Dennis Mulrooney is an L.A.P.D. detective and colleague to Detective Andy Parma and Sergeant Robert Goodman. A close friend of Andy's, Mulrooney was invited to his wedding to model Melissa Alexandra Hayes. When Melissa was subsequently abducted from the bridal suite by deranged stalker Rudy Strassa, Mulrooney worked alongside Andy, Goodman and Andy's uncle, veteran homicide detective Lieutenant Columbo, to rescue her.

Detective Mulrooney appeared in the 1992 Season 10 episode No Time to Die, played by Doug Savant.

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