Though she was born in Los Angeles, California, she grew up in San Francisco, California. She attended George Washington High School, where one of her classmates was future singing star Johnny Mathis.

Competing as Miss California, Lee was crowned Miss America 1955. She remains one of the most popular former Miss Americas.

Her feature film debut was as Linda Davis in 1959's The 4D Man which starred Robert Lansing. She is perhaps most famous for portraying Catwoman in the 1966 Batman movie. She co-starred as scientist Dr. Ann MacGregor in the 1966-1967 television series The Time Tunnel. Also noteworthy is her co-starring role as Betty Jones in the 1973-1980 television series Barnaby Jones opposite Buddy Ebsen.

In the 1970s and 1980s, she appeared on Circus of the Stars four times. Her daughters by her first marriage, Kyle and Lesley Aletter, also appeared on Circus of the Stars. Lee has been married to current husband, Marshall Borden, since 1987.

In 1996, Lee briefly took over for Mary Fickett in the role of Ruth Martin on the soap opera All My Children. She also appeared Off-Broadway in the interactive comedy, Grandma Sylvia's Funeral.