| Year | Series | Role | Notes |
|---|
| 1971 | The Bill Cosby Show | J.J. | Episode: "The Barber Shop" |
| 1973 | Police Story | Harpie | Episode: "The Ho Chi Minh Trail" |
| Ironside | T.D. Harris | Episode: "Downhill All the Way" |
| 1974 | Sanford and Son | Sonny Cochran | Episode: "Fred Sanford, Legal Eagle" |
| Toma | | Episode: "Indictment" |
| Police Woman | Rex | Episode: "The Beautiful Die Young" |
| Kolchak: The Night Stalker | Sweetstick Weldon | Episode: "The Zombie" |
| Kojak | Benny | Episode: "Loser Takes All" |
| 1975–1979 | Starsky & Hutch | Huggy Bear | Series regular, 92 episodes |
| 1978 | The Love Boat | Lee Graham | Episode: "Pacific Princess Overtures/Gopher, the Rebel/Cabin Fever" |
| Vega$ | 'Fast' Freddie Tibbs | Episode: "Mother Mishkin" |
| Kaz | | Episode: "Which Side Are You On?" |
| 1979 | Sweepstakes | | Episode: "Cowboy, Linda and Angie, Mark" |
| CHiPs | Self | Episode: "Roller Disco: Part 2" |
| 1980 | Charlie's Angels | Blackie | Episode: "Angels of the Deep" |
| 1981 | Nurse | Marshall Gripps | Episode: "Long Days Journey Into Morning" |
| 1982–1987 | All My Children | Les Baxter | Recurring role |
| 1983 | Hardcastle and McCormick | Jerry Blackmore | Episode: "Once Again with Vigorish" |
| 1988 | Miami Vice | Alejandro Gutierrez | Episode: "Mirror Image" |
| 1990 | La belle Anglaise | Caldwell | Episode: "Weekend Surprise" |
| 1991 | MacGyver | Colonel Devraux | Episode: "Walking Dead" |
| 1994 | The Fresh Prince of Bel-Air | Lamont Kelly | Episode: "Soooooooul Train" |
| 1995 | Martin | Antonio Fargas aka Huggy Bear | Episode: "All the Players Came" |
| 1996 | The Parent 'Hood | The Criminal | Episode: "We Don't Need Another Hero" |
| The Wayans Bros. | Uncle Nate | Episode: "Family Business" |
| Homeboys in Outer Space | Dolomoth | Episode: "Super Bad Foxy Lady Killer or Ty and Morris Get the Shaft" |
| 1997 | Living Single | Otis Jones | 2 episodes |
| 1998 | Damon | Sammy | Episode: "A Bury Special Episode" |
| 1999 | The Steve Harvey Show | Smitty Rollins | Episode: "All That Jazz" |
| L.A. Heat | Jeremy Lauren | Episode: "Obsession" |
| 2000 | G vs E | Dutch Simms | Episode: "Renunciation" |
| 2002 | Fastlane | Jimmy Lipps | Episode: "Girls Own Juice" |
| 2003 | Holby City | Victor Garrison | Episode: "Seasons in the Sun" |
| Grease Monkeys | Tony | Episode: "The Drugs Don't Work" |
| The District | J.T. | Episode: "In God We Trust" |
| 2004 | Eve | Uncle Jerry | Episode: "Pimps Up, DivaStyle Down" |
| 2005 | Everybody Hates Chris | Sweet Tooth | Episode: "Everybody Hates Halloween" |
| 2006 | The Simpsons | Huggy Bear (Voice) | Episode: "Bart Has Two Mommies" |
| 2006-2009 | Everybody Hates Chris | Doc | Recurring role, 23 episodes |
| 2008 | Numb3rs | Jeffrey Knight | Episode: "Thirty-Six Hours" |
| 2009 | Lie to Me | Mr. Mitchell | Episode: "Unchained" |
| Brothers | Maurice | Episode: "Snoop Returns" |
| 2014 | House of Lies | Mr. Zhang | Episode: "Zhang" |
| 2016 | Dark Memories | Isum | Episode: "Death at Sunrise" |
| 2017 | Mann & Wife | Lieutenant Lou | Episode: "Mann, Shut Yo Mouth" |
| 2018 | Cherif | Huggy Bear | Episode: "Quand Cherif rencontre Huggy" |
| Black Lightning | David Poe | Episode: "And Then the Devil Brought the Plague: The Book of Green Light" |
| Code Black | Harold | Episode: "Home Stays Home" |
| 2024 | Everybody Still Hates Chris | Doc Harris (voice role) | Episode: "Everybody Still Hates the GED" |
