| Year | Title | Role | Notes |
|---|
| 1969 | Guiding Light | Peter Wexler | |
| 1975 | Starsky & Hutch | Fry | Episode: "Captain Dobey, You're Dead" |
| 1975 | Police Story | P.D. DeLong | Episode: "The Empty Weapon" |
| 1977 | The Sunshine Boys | Ben Clark | TV movie |
| 1977 | Carter Country | Kaplan | Episode: "Hail to the Chief" |
| 1977 | A Killing Affair | Cabrillo | TV movie |
| 1976–1977 | Kojak | Kenny Murray / Pete | 2 episodes |
| 1977 | Search for Tomorrow | Mike Kaslo | 4 episodes |
| 1977 | Hawaii Five-O | Charlie Davilo | Episode: "East Wind – Ill Wind" |
| 1978 | Black Sheep Squadron | Maj. J. Pearson | Episode: "Operation Stand-Down" |
| 1978 | Switch | Fred McGivers | Episode: "Three Blonde Mice" |
| 1976–1978 | The Tony Randall Show | Higgins / Gene Locatelli / Winslow | 3 episodes |
| 1978 | When Every Day Was the Fourth of July | Assistant to the attorney | TV movie |
| 1978 | The Two-Five | Vinnie Lombardo | TV movie |
| 1978 | The Dark Secret of Harvest Home | Ty Barth | Miniseries |
| 1978 | Barney Miller | Philip Kubrick / Howard Altman | 2 episodes |
| 1978 | The Eddie Capra Mysteries | | Episode: "And the Sea Shall Give Up Her Dead" |
| 1978 | The Immigrants | Calvin Braderman | TV movie |
| 1979 | The Paper Chase | Gilbert | Episode: "The Apprentice" [2] |
| 1979 | Barnaby Jones | Ted Richman | Episode: "Girl on the Road" |
| 1979 | Mrs. Columbo | Sergeant Caplan / Fisher | 3 episodes |
| 1980 | Nobody's Perfect | Lt. Vince de Gennaro | 8 episodes |
| 1980 | Soap | F. Peter Haversham | 3 episodes |
| 1980–1981 | I'm a Big Girl Now | Walter Douglass | 11 episodes |
| 1982 | House Calls | | Episode: "Campaign in the Neck" |
| 1980–1982 | Quincy, M.E. | Sigerski's attorney / Dr. Tate Edmonds | 2 episodes |
| 1981–1982 | Shannon | Lt. Rudy Maraga | 9 episodes |
| 1982 | Voyagers! | Harry Houdini | Episode: "Agents of Satan" |
| 1982 | Romance Theatre | Christian | Episode: "Bayou Romance: Parts 1-5" |
| 1983 | Knight Rider | Paul DeBrett | Episode: "The Topaz Connection" |
| 1983 | V | Robert Maxwell | Miniseries |
| 1983 | Hotel | Lieutenant Pellegrini | Episode: "Hotel" |
| 1983 | Chiefs | John Howell | Part 3 |
| 1983 | Goodnight, Beantown | Ed | Episode: "Looking Forward to the Past" |
| 1984 | V: The Final Battle | Robert Maxwell | 3 Parts |
| 1984 | V: The Series | Robert Maxwell | Episodes: "Liberation Day" and "Dreadnought" |
| 1984–1985 | Alice | Nicholas Stone | 4 episodes |
| 1985 | Highway to Heaven | Jim Haynes | Episode: "The Right Thing" |
| 1985 | Diff'rent Strokes | Detective Harris | Episode: "Sam's Missing" |
| 1984–1986 | Remington Steele | Donald Piper | 2 episodes |
| 1986 | Dynasty | Sgt. Landers | 2 episodes |
| 1986 | Scarecrow and Mrs. King | Thomas Blackthorne | Episode: "Unfinished Business" |
| 1983–1987 | Hill Street Blues | Joe Furillo / Irv Luboff | 5 episodes |
| 1987 | The Last Innocent Man | District Attorney | TV movie |
| 1987 | Family Sins | Dr. Hamilton | TV movie |
| 1987–1988 | Santa Barbara | Alex Nikolas | 84 episodes |
| 1982–1988 | Cagney & Lacey | Kurts / Anthony Berwick | 2 episodes |
| 1988 | Hunter | Whitney Ferris | Episode: "Boomerang" |
| 1989 | L.A. Law | Joseph Schaeffer | Episode: "The Plane Mutiny" |
| 1989 | From the Dead of Night | Dr. Morrow | TV movie |
| 1989 | Who's the Boss? | Richard Braden | Episode: "Mother and Child Disunion" |
| 1990 | Father Dowling Mysteries | Dr. Latimer | Episode: "The Ghost of a Chance Mystery" |
| 1990 | Dragnet | John O'Connor | Episode: "Trespass" |
| 1990 | Equal Justice | Jason Prentiss | Episode: "Courting Disaster" |
| 1991 | Jake and the Fatman | Marcus Webster | Episode: "I'd Do Anything" |
| 1991 | P.S.I. Luv U | Leo Fallbrook | Episode: "What's Up, Bugsy? |
| 1986–1992 | Matlock | D.A. Lloyd Burgess | 22 episodes |
| 1992 | Silk Stalkings | Gordon Tully | Episode: "Irreconcilable Differences" |
| 1992 | Secrets | Victor Sabachelli | 2 episodes |
| 1986–1993 | CBS Schoolbreak Special | Lieutenant Gennaro / Nick Miller | 2 episodes |
| 1993 | Star Trek: Deep Space Nine | General Hazar | Episode: "Sanctuary" |
| 1993–1995 | Renegade | Howard Hamster / Judge Charles Hollister | 2 episodes |
| 1993–2000 | Beverly Hills, 90210 | Dr. John Martin | 32 episodes |
| 1994 | Menendez: A Killing in Beverly Hills | Bob Winters | TV movie |
| 1994 | Alien Nation: Dark Horizon | Avid Fan | TV movie |
| 1996 | Pacific Blue | Defense Attorney Malone | Episode: "First Shoot" |
| 1997 | Law & Order | Attorney Hilburne | Episode: "Harvest" |
| 2001 | Philly | Judge Simon Green | Episode: "Loving Sons" |
| 2003 | ER | Bob Gilman | Episode: "A Little Help from My Friends" |
| 2004 | NYPD Blue | Judge Kepler | Episode: "I Like Ike" |
| 2004 | Judging Amy | Larry Feiner | Episode: "Catching It Early" |
| 2006 | Magma: Volcanic Disaster | President Fletcher | TV movie |
| 2006 | Desperate Housewives | Mr. Katzburg | 3 episodes |
| 2007 | Brothers & Sisters | Judge Howard Chandler | Episode: "Domestic Issues" |
| 2008 | Without a Trace | Councilman Pfeiffer | Episode: "4G" |
| 2009 | Mental | Alan Jennings | Episode: "Life and Limb" |
| 2010 | Persons Unknown | Dr. David Salinger | Episode: "Shadows in the Cave" |
| 2010 | Dexter | Stuart Frank | Episode: "In the Beginning" |
| 2013 | The Mindy Project | Dr. Walters | Episode: "Santa Fe" |
| 2013 | Christmas in the City | Santa | TV movie |
| 2016–2018 | Grace and Frankie | Sonny | 2 episodes |
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