Usually when a show is created, the theme is written to reflect the show. But with 'The Fall Guy' it was the other way around. Producers already had the theme (written for a series that never got off the ground) now all they needed was the show to build around it. And they got one that ran for five seasons. It had action and humor, plus occasional star cameos. And that theme song - by David Somerville, Gail Jensen, and Glen Larson - stuck around for the entire run. The visuals under it did change a bit, so we have two opening title sequences (one includes the first-season explainer narrated by Majors), plus two end credits rolls with different arrangements. At first the singer was identified as Colt Seavers (Majors' character name) but in later seasons it read 'Lee Majors'.
00:00 Opening titles, with explainer (season one).
02:56 End credits.
03:25 Opening titles (with Heather Thomas).
05:06 End credits (revised).