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He is best remembered for the work he did on Star Trek as a writer, producer and director. He wrote four episodes for the Star Trek series from 1967 to 1969, "That Which Survives", "Elaan of Troyius", "Patterns of Force", and "The Changeling". He also directed the 1968 Star Trek episodes "The Ultimate Computer, "The Enterprise Incident" and "Elaan of Troyius". Lucas was also credited as producer for much of the second season (1967-1968). He was the only writer on the original series to direct an episode he had authored ("Elaan of Troyius").
In 1951 he married Australian born actress Joan Winfield. Together they raised three children. After her death in 1978, he remarried. After his death in 2002, he was cremated and his ashes were later launched into space on a suborbital flight in 2007. They were subsequently launched on an orbital flight on 2 August 2008, however the rocket failed two minutes after launch.