Blake's life is a far cry from his heyday when he was a star on TV's Baretta in the 70s. He lives in an apartment in a working class neighborhood, close to the 101 Freeway in Los Angeles.
He and his new fiancé, Pamela Hudak, applied for a marriage license last week.
The 83-year-old actor's second wife, Bonnie Lee Bakley, was shot to death as she sat in a car outside an Italian restaurant in Los Angeles in 2001.
Hudak, 55, has known Blake for decades and actually testified on his behalf during his murder trial.
"It is true that many people think Robert Blake is responsible for the death of Bonnie Lee Bakley," Beth Karas, a legal analyst who covered the murder trial told Inside Edition. "Should [Pamela] be worried? This is a woman who has known Blake for years, much longer than Bonnie Lee Bakley. Given that Pamela has known him for so many years she has nothing to worry about."
Prosecutors claimed Blake killed her because she tricked him into marriage by getting pregnant. However, the jury found him not guilty in 2005.
Bakley family attorney, Cary W. Goldstein, told Inside Edition: "I can't say that he pulled the trigger and killed her, but I believe he probably arranged her death."
Goldstein had advice for Blake's new fiance, saying: "I [would] tell her to keep her cell phone handy and be ready to dial 911. I am still astounded that anybody would consider still marrying him knowing what they know about him now."
Blake was ordered to pay Bakley's four children millions of dollars in a civil lawsuit for the "wrongful death" of his second wife.