| Year | Title | Role | Notes |
|---|
| 1966 | Guiding Light | Dr. Jim Frazier | |
| 1969 | The F.B.I. | Nate Phelps | Epidode "The Sanctuary" |
| 1970 | Carter's Army | Pvt. Lewis | TV movie |
| 1970 | The F.B.I. | Jimmy | Episode "The Architect" |
| 1971 | Mission Impossible | Hank Benton | Episode: "The Miracle" |
| Brian's Song | Gale Sayers | TV movie |
| 1972 | The Glass House | Lennox | TV movie |
| 1977 | Scott Joplin | Scott Joplin | TV movie with later theatrical release |
| 1978 | The Jeffersons | Himself | Episode: "Me and Billy Dee" |
| 1979 | Christmas Lilies of the Field | Homer Smith | TV movie |
| 1980 | The Hostage Tower | Clarence Whitlock | TV movie |
| Children of Divorce | Walter Williams | TV movie |
| 1983 | Sesame Street | Himself | 3 episodes |
| Motown 25: Yesterday, Today, Forever | |
| Shooting Stars | Douglas Hawk | TV movie |
| Chiefs | Tyler Watts (aka Joshua Cole) | TV miniseries
3 episodes |
| 1984 | Time Bomb | Wes Tanner | TV movie |
| The Imposter | Matthew Raines | TV movie |
| 1984–85 | Dynasty | Brady Lloyd | 5 episodes |
| 1985 | Double Dare | Billy Diamond | |
| 1986 | Blood, Sweat and Tears | | Unsold pilot |
| The Right of the People | Mike Trainor | TV movie |
| Oceans of Fire | Jim McKinley | TV movie |
| Courage | Bobby Jay | TV movie |
| 1987 | Diana Ross: Red Hot Rhythm & Blues | Himself | |
| 1988 | The Return of Desperado | Daniel Lancaster | TV movie |
| 1990 | Dangerous Passion | Lou | TV movie |
| Wiseguy | Jesse Hains | Episode: "Changing Houses" |
| 1992 | In Living Color | Himself | |
| The Jacksons: An American Dream | Berry Gordy | TV movie |
| 1993 | Marked for Murder | Captain Jack Reilly | TV movie |
| A Different World | Langston Paige | Episode: "College Kid" |
| Martin | Himself | |
| Percy & Thunder | Ralph Tate | TV movie |
| Message from Nam | Felix | TV movie |
| 1994 | Heaven & Hell: North & South, Book III | Francis Cardozo | TV miniseries
3 episodes |
| Lonesome Dove: The Series | Aaron Grayson | 3 episodes |
| 1995 | Triplecross | Oscar | TV movie |
| Falling for You | Lieutenant Frank | TV movie |
| 1997 | The Fourth King | Gasparre | TV movie |
| 1998 | Hard Time | Leo Barker | TV movie |
| 18 Wheels of Justice | Burton Hardesty | |
| 1999–2001 | The Hughleys | Jerry Rose | 2 episodes: "Roots: Part 2" & "Forty Acres and a Fool" |
| 2000–2001 | Epoch: Evolution | Ferguson | |
| 2004 | That 70s Show | Pastor Dan | Episode: "Baby Don't You Do It" |
| Half & Half | Otis 'Omar Funk' Wright | Episode: "The Big Fetish What You Started Episode" |
| 2006 | Scrubs | Himself | Episode: "Her Story II" |
| 2007 | General Hospital: Night Shift | Toussaint DuBois | 27 episodes |
| Lost | Himself | Episode: "Exposé" |
| 2007–2014 | Robot Chicken | Lando Calrissian and various other voices | 3 episodes |
| 2008 | Mind of Mencia | | |
| Private Practice | Henry | Episode: "Serving Two Masters" |
| Bring Back... Star Wars | Himself | |
| 2009 | General Hospital | Toussaint DuBois | 5 episodes |
| Titan Maximum | Admiral Bitchface | 5 episodes |
| 2010 | Jimmy Kimmel Live: Game Night | Himself | |
| The Boondocks | Himself (voice) | Episode 10 |
| 2011 | White Collar | Ford / Bradford Toman | |
| The Cleveland Show | Lando Calrissian (voice) | |
| 2012 | The Life & Times of Tim | Himself (voice) | 1 episode |
| Mad | Lando Calrissian (voice) | Episode: "Potions 11/Moves Like Jabba" |
| 2012–2014 | NCIS | Leroy Jethro Moore | 2 episodes |
| 2012 | Key & Peele | Himself | 1 episode |
| 2013 | Modern Family | Episode: "New Year's Eve" |
| 2013 | Lego Star Wars: The Yoda Chronicles | Lando Calrissian (voice) | 2 episodes |
| 2014 | Dancing with the Stars | Himself | Season 18 |
| Glee | Andy Collins | Episode: "Old Dog, New Tricks" |
| 2015 | Star Wars Rebels | Lando Calrissian (voice) | 2 episodes |
| 2015 | Lego Star Wars: Droid Tales |
| 2016 | Lego Star Wars: The Resistance Rises | 1 episode |
| 2016–2017 | Lego Star Wars: The Freemaker Adventures | 3 episodes |
| 2017 | Dirty Dancing | Tito | ABC TV movie |
| 2020 | Lego Star Wars Holiday Special | Lando Calrissian (voice) | TV special |
| 2021 | Scooby-Doo and Guess Who? | Himself (voice) | Episode: "Scooby-Doo and the Sky Town Cool School!" |
| 2022 | Lego Star Wars: Summer Vacation | Lando Calrissian (voice) | TV special |
| 2023 | And Just Like That | Lawrence Todd | Episode: "Alive!" |
| 2024 | Lego Star Wars: Rebuild the Galaxy | Landolorian (voice) | Episode: "Part Four" |
