| Year | Title | Role | Notes |
|---|
| 1990 | Classic Concentration | Himself / contestant | Episodes dated November 7–8, 1990 |
| 1992 | The Fresh Prince of Bel-Air | Paramedic #1 | Episode: "A Funny Thing Happened on the Way Home from the Forum" |
| 1993 | Where I Live | Boyfriend | Episode: "Opposites Attack" |
| 1994 | All-American Girl | Waiter | Episode: "Loveless in San Francisco" |
| 1995 | JAG | Helmsman | Episode: "Shadow" |
| Cybill | Piano Bar Waiter | Episode: "Nice Work If You Can Get It" |
| 1996 | Intimate Portrait | Himself | Episode: "Vanessa Williams" |
| Martin | Donnie | Episode: "The Bodyguard" |
| Buddies | Eddie | Episode: "John, I've Been Thinking" |
| 1997 | The Pretender | Derek Kobey | Episode: "Ranger Jarod" |
| Profiler | Attendant | Episode: "Shadow of Angels: Part 2" |
| Beverly Hills, 90210 | Car Washer | Episode: "Comic Relief" |
| 2000–01 | Hype | Various | Main Cast |
| 2002 | Curb Your Enthusiasm | Krazee-Eyez Killa | Episode: "Krazee-Eyez Killa" |
| 2003 | Hey Monie! | Raekwon | Episode: "Getta Life" |
| 2004 | The Shield | Agent Quigley | Episode: "Playing Tight" |
| Reno 911! | Blind Witness | Episode: "Security for Kenny Rogers" |
| Listen Up | Willie | Episode: "Cool Jerk" |
| 2005 | CSI: Crime Scene Investigation | Lt. Reed Owens | Episode: "Committed" |
| 2006 | Weeds | Tyrell | Episode: "Cooking with Jesus" |
| 2007 | E! True Hollywood Story | Himself | Episode: "Vanessa Williams" |
| Monk | Agent Thorpe | Episode: "Mr. Monk and the Really, Really Dead Guy" |
| The Wedding Bells | Ralph Snow | Main Cast |
| 2007–11 | Californication | Todd Carr | Recurring Cast: Season 1, Guest: Season 4 |
| 2008 | The Boondocks | Homo D (voice) | Episode: "The Story of Gangstalicious: Part 2" |
| CSI: Miami | Peter Cullen | Episode: "Down to the Wire" |
| 2009 | WordGirl | Judge (voice) | Episode: "Granny Mayor/Tobey Goes Good" |
| 24 | Phil | Episode: "Day 7: 8:00 a.m.-9:00 a.m." & "Day 7: 9:00 a.m.-10:00 a.m." |
| Sherri | Doug Davis | Episode: "All in the Timing" |
| 2010 | Biography | Himself | Episode: "Vanessa Williams" |
| Ugly Betty | Wilhediva Hater Robert | Episode: "Chica and the Man" |
| 2012 | Kitchen Cousins | Himself | Episode: "Vanessa Williams Kitchen Surprise" |
| Bones | Mike Grassley | Episode: "The Suit on the Set" |
| Animal Practice | Hubert Queel | Episode: "The Two George Colemans" |
| Happy Endings | Officer Sommers | Episode: "Boys II Menorah" |
| 2012–14 | Family Time | Todd Stallworth | Guest: Season 1, Recurring Cast: Season 2 |
| 2013 | Hot in Cleveland | Dr. Greenly | Episode: "Corpse Bride" |
| 2014 | Satisfaction | Lawrence | Recurring Cast: Season 1 |
| 2015 | One Big Happy | Roy | Main Cast |
| 2016 | 2 Broke Girls | Perry Tyler | Episode: "And the Lost Baggage" |
| The Soul Man | Mervin | Episode: "Hangin' with Mr. Cupper" |
| Dice | Marvin | Recurring Cast: Season 1 |
| Better Things | Modi | Recurring Cast: Season 1 |
| 2016–17 | The Great Indoors | Eddie | Main Cast |
| 2016–19 | Silicon Valley | Hoover | Recurring Cast: Season 3–6 |
| 2017 | Curb Your Enthusiasm | Krazee-Eyez Killa | Episode: "Never Wait for Seconds!" |
| 2018 | Legends & Lies | Bill Baker | Episode: "The Civil War: Brother vs. Brother" |
| Young & Hungry | Captain | Episode: "Young & Yacht'in" |
| Fortune Rookie | Chris | Episode: "Business Is Booming" |
| 2019 | Florida Girls | Harold | Recurring Cast |
| A Black Lady Sketch Show | Kwame | Episode: "3rd & Bonaparte Is Always in the Shade" |
| 2020 | Extraction | Dr. Prince | Recurring Cast |
| 2020–22 | Upload | Dave Antony | Recurring Cast |
| 2022 | Real Comedians Challenge Show | Dwight | Episode: "Dodgeball Challenge" |
| Dollface | Andre | Episode: "Homecoming Queen" |
| 2022–23 | The Upshaws | Larry | Guest: Season 2 & 4, Recurring Cast: Season 3 |
| 2023 | CSI: Vegas | Ken Yacoob | Episode: "When the Dust Settles" |
| Animal Control | Oak | Episode: "Hellhounds and Sturgeons" |
