| Year | Title | Role | Notes |
|---|
| 1978 | In the Beginning | Frank | Episode: "The Good Thief" |
| Eight Is Enough | Cory Larson | Episode: "All the Vice President's Men" |
| 1979 | Studs Lonigan | Young Weary | Miniseries |
| How the West Was Won | Jacob Kelsay | Episode: "The Innocent" |
| 1980 | Skag | Paul | Episode: "In Trouble at 15" |
| Seizure: The Story of Kathy Morris | Patrick Morris | TV movie |
| Family | Rob | Episode: "Hard Times" |
| All God's Children | Howard Naponic | TV movie |
| Baby Comes Home | Franklin Kramer | TV movie |
| 1981 | Coward of the County | Tommy Spencer | TV movie |
| The Children Nobody Wanted | Tom Butterfield | TV movie |
| 1982 | Cagney & Lacey | Burt | Episode: "Mr. Lonelyhearts" |
| 1983 | This Girl For Hire | Peter | TV movie |
| 1984 | The Seduction of Gina | David Breslin | TV movie |
| 1984–1985 | Dallas | Eddie Cronin | 19 episodes |
| 1985 | Love Is Never Silent | William Anglin | TV movie |
| Finder of Lost Loves | Dan Matthews | Episode: "Connections" |
| 1987 | American Harvest | Roger Duncan | TV movie |
| Billionaire Boys Club | Chris Fairmont, Jr. | TV movie |
| 1987, 1996 | Murder, She Wrote | Lloyd Nichols / Al Parker | 2 episodes |
| 1988 | Man Against the Mob | Sammy Turner | TV movie |
| Hotel | Brian Andrews | Episode: "Grand Designs" |
| Favorite Son | E. Ben Wyckoff | Episode: "Part One" |
| 1988–1989 | China Beach | Rick White | 2 episodes |
| 1989 | Amityville 4: The Evil Escapes | Father Kibbler | TV movie |
| 1989–1990 | Mancuso, F.B.I. | Eddie McMasters | 20 episodes |
| 1990 | Wiseguy | Winston Chambers III | 3 episodes |
| Terror on Highway 91 | Charlie Stone | TV movie |
| 1991 | This Gun for Hire | Mather | TV movie |
| Deadly Game | Osiris | TV movie |
| 1992 | Civil Wars | Mike Ruffalo | Episode: "Pro Se Can You See" |
| Human Target | Mike | Episode: "Cool Hand Chance" |
| 1993 | Matlock | John Page | Episode: "The Singer" |
| 1994 | Time Trax | Morgan Pierce | Episode: "Catch Me If You Can" |
| 1995 | Renegade | Robert Hudley | Episode: "Repo Raines" |
| Babylon 5 | Ranger | Episode: "The Coming of Shadows" |
| Courthouse | Mr. Hagan | Episode: "Child Support" |
| 1996 | Diagnosis: Murder | Tom Winston | Episode: "Living on the Streets Can Be Murder" |
| NYPD Blue | Mark Drennan | Episode: "Girl Talk" |
| Sliders | Phil | Episode: "Dead Man Sliding" |
| 1997 | Two Voices | David Anneken | TV movie |
| ER | Bum's Friend | Episode: "Post Mortem" |
| Spy Game | CJ | Episode: "Dead and Gone, Honey" |
| Payback | Sgt. Brian Kaleen | TV movie |
| Chicago Hope | Ellis Cooper | Episode: "Sympathy for the Devil" |
| 1998 | Inferno | Lt. Sympson | TV movie |
| From the Earth to the Moon | Astronaut Walt Cunningham | 2 episodes |
| Nothing Sacred | Jimmy | Episode: "A Nun's Story" |
| 1998–1999 | The X-Files | Young Arthur Dales | 2 episodes |
| 1998, 2000 | Touched by an Angel | Eric | 2 episodes |
| 1999 | Balloon Farm | Jake Johnson | TV movie |
| 2001 | V.I.P. | Adam Fowler | Episode: "Millennium Man" |
| Any Day Now | Mr. Saunder | Episode: "Blinded By the White" |
| 2001, 2009 | CSI: Crime Scene Investigation | Curt Ritten / Frank Carrow | 2 episodes |
| 2002 | Boomtown | Reggie Flood | Episode: "Insured by Smith & Wesson" |
| Crossing Jordan | John Roberts | Episode: "One Twelve" |
| 2002–2004 | JAG | Capt. Banes/Commander Mark Collins | 2 episodes |
| 2003 | Firefly | Ranse Burgess | Episode: "Heart of Gold" |
| Cold Case | Sam Roya | Episode: "Hitchhiker" |
| 2004 | NCIS: Naval Criminal Investigative Service | Captain Graves | Episode: "Dead Man Talking" |
| 2004–2010 | Lost | Marshal Edward Mars | 11 episodes |
| 2005 | CSI: NY | Ross Lee | Episode: "Tanglewood" |
| Malcolm in the Middle | Officer Ridley | Episode: "Billboard" |
| Night Stalker | Mr. Carver | Episode: "Malum" |
| Without a Trace | George | Episode: "The Innocents" |
| 2006 | E-Ring | General Moyer | Episode: "Acceptable Losses" |
| The Book of Daniel | Police Officer | Episode: "Temptation" |
| Medium | David Delaney | Episode: "Allison Wonderland" |
| Bones | Giles Hardewicke | Episode: "The Man with the Bone" |
| 2006–2007 | Ghost Whisperer | Charlie Banks | 2 episodes |
| 2006–2010 | Supernatural | Azazel | 4 episodes |
| 2007 | Day Break | unknown role | Episode: "What If He's Free?" |
| The Closer | Eugene "Topper" Barnes | Episode: "Til Death Do Us Part: Part II" |
| Claire | Ben Goodrow | TV movie |
| 2008 | Eli Stone | Soldier | Episode: "Father Figure" |
| Saving Grace | Richard | Episode: "It's a Fierce, White-Hot, Mighty Love" |
| The Starter Wife | Steve | Episode: "Mollywood" |
| Finnegan | Chief John Hannon | TV movie |
| 2008, 2017 | Criminal Minds | Jack Vaughan | 2 episodes |
| 2009 | Lie to Me | Company Owner Kevin Warren | Episode: "Life Is Priceless" |
| The Mentalist | Marshal Exley | Episode: "Red Sauce" |
| Last of the Ninth | Riley | Episode: "Pilot" |
| 2009, 2013 | Law & Order: Special Victims Unit | Clive Lynwood / Warden Jones | 2 episodes |
| 2010 | Justified | SWAT Commanding Officer | Episode: "Blowback" |
| Rubicon | Col. Mitchell | 2 episodes |
| 2011 | Big Love | Dennis Innes | 2 episodes |
| Castle | Addison Smith | Episode: "Demons" |
| 2012 | American Horror Story: Asylum | Frank McCann | 7 episodes |
| 2013 | The Ordained | The Penitent | TV movie |
| Boardwalk Empire | Owney Madden | 2 episodes |
| 2014 | Revenge | Detective | Episode: "Homecoming" |
| The Red Road | Detective Alcala | 2 episodes |
| Crisis | General Mark Osborne | 2 episodes |
| 2014–2015 | Blue Bloods | Chief Trumball | 2 episodes |
| 2015 | Public Morals | Tommy Red | 7 episodes |
| Chicago Fire | Chief Ray Riddle | 7 episodes |
| 2016 | Feed the Beast | Kevin Mahoney | 2 episodes |
| 2017 | Quantico | Maxwell Fletcher | 3 episodes |
| Preacher | Saltonstall | Episode: "Pig" |
| The Blacklist | Leon Cox | Episode: "Ilyas Surkov (No. 54)" |
| 2018 | Seven Seconds | Peter Jablonski Sr. | 3 episodes |
| Homeland | General Rossen | 2 episodes |
| Madam Secretary | John Dalton | Episode: "The Unnamed" |
| Yellowstone | Carl Reynolds | 3 episodes |
| Mr. Mercedes | Det. Daniel Marks | 2 episodes |
| 2018–2022 | Westworld | Colonel Brigham | 2 episodes |
| 2019 | Bull | Judge Wanecraft | Episode: "Don't Say a Word" |
| Bluff City Law | Tommy | 2 episodes |
| 2020 | The Right Stuff | Alan B. Shepard Sr. | Episode: "Advent" |
| 2021 | Dr. Death | Don Duntsch | 6 episodes |
| Evil | Mick Carr | Episode: "C Is For Cop" |
| FBI: International | Steve Webb | Episode: "Secrets as Weapons" |
| Dexter: New Blood | Edward Olsen | 3 episodes |
| 2022 | Partner Track | Ted Lassiter | 5 episodes |
| 2023 | The Rookie: Feds | Jack Twohey | Episode: "Red One" |
| 2024 | Elsbeth | Lieutenant Dave Noonan | 7 episodes |
| 2024 | Law & Order | Captain Greg Stockwell | Episode: "Bad Apple" |
| 2025 | Zero Day | Bob Schreier | |
