| Year | Title | Role | Notes |
|---|
| 1974 | Great Performances | Bellerose / Cadet | Episode: "Cyrano de Bergerac " |
| 1974 | The Streets of San Francisco | Bennett | Episode: "I Ain't Marchin' Anymore" |
| 1974 | Bad Ronald | Sergeant Carter | Television film |
| 1974 | Cannon | Jebediah | Episode: "A Killing in the Family" |
| 1974 | Good Times | Officer Connors | Episode: "The Gang: Part 2" |
| 1975 | Mannix | Bill Rogell | Episode: "Chance Meeting" |
| 1975 | Kojak | Thompson | Episode: "Two-Four-Six for Two Hundred" |
| 1975 | Caribe | Willie Foyle | Episode: "School for Killers" |
| 1975 | Foster and Laurie | Sims | Television film |
| 1976 | McNaughton's Daughter | Zareb Parker | Episode: "McNaughton's Daughter" |
| 1976 | The Rockford Files | Officer Aaron | Episode: "Feeding Frenzy" |
| 1976 | Spencer's Pilots | Jerry | Episode: "The Search" |
| 1976 | Delvecchio | Stan the Man | Episode: "Thicker Than Water" |
| 1977 | Switch | Col. George Radburn | Episode: "Heritage of Death" |
| 1977 | The 3,000 Mile Chase | Prosecutor | Television film |
| 1977 | The Incredible Hulk | Lab Technician | Episode: "Death in the Family" |
| 1979 | Barney Miller | Dr. Anthony Keeling | Episode: "Computer Crime" |
| 1979 | Death Car on the Freeway | Eddie | Television film |
| 1981 | Thornwell | Court Officer |
| 1981–1985 | Days of Our Lives | Danny Grant | 194 episodes |
| 1984 | Sins of the Past | Dennis Warren | Television film |
| 1984 | T. J. Hooker | Coleman Young | Episode: "Anatomy of a Killing" |
| 1984 | Anatomy of a Killing | Bob Waters | Television film |
| 1985 | Alfred Hitchcock Presents | Joe Chandler | Episode: "Night Fever" |
| 1985 | Streets of Justice | Det. Crowther | Television film |
| 1986 | Scarecrow and Mrs. King | Rashidi | Episode: "Billy's Lost Weekend" |
| 1986 | Outlaws | Lieutenant Jack Kirkum | Episode: "Outlaws" |
| 1987 | Ohara | Cop #3 | Episode: "Eddie" |
| 1987 | Night Court | Clinton | Episode: "Here's to You, Mrs. Robinson" |
| 1989 | Hard Time on Planet Earth | Officer Stoff | Episode: "The Way Home" |
| 1989 | MacGyver | Various roles | 2 episodes |
| 1990 | Matlock | Daryl Wilson | Episode: "Nowhere to Turn" |
| 1991 | Father Dowling Mysteries | Father Pike | Episode: "The Priest Killer Mystery" |
| 1991 | Parker Lewis Can't Lose | Coach Tripp | Episode: "Fat Boy and Little Man" |
| 1991 | Reasonable Doubts | Samuel Gunn | Episode: "Dicky's Got the Blues" |
| 1991–1993 | I'll Fly Away | Reverend Henry | 10 episodes |
| 1992 | With a Vengeance | Arnold Bell | Television film |
| 1992 | Picket Fences | FBI Agent | Episode: "The Green Bay Chopper" |
| 1994 | Cries from the Heart | Eliot | Television film |
| 1994 | On Our Own | Gordon Ormsby | 11 episodes |
| 1995 | JAG | General Larry Butler | Episode: "Desert Son" |
| 1996 | Diagnosis: Murder | Attorney Clark Easton | Episode: "Murder Can Be Contagious" |
| 1996 | Dark Skies | Reverend Poole | Episode: "We Shall Overcome" |
| 1997 | Hangin' with Mr. Cooper | Spencer Russell | Episode: "The In-Laws" |
| 1997 | The Gregory Hines Show | Emcee | Episode: "Ben-Her" |
| 1997 | Party of Five | Minister | Episode: "Sickness, Health/Richer, Poorer" |
| 1998 | Promised Land | Howard Banks | Episode: "Denver, Welcome Home" |
| 1998 | To Have & to Hold | Prosecutor | Episode: "Who's Sorry Next?" |
| 1999 | The Hughleys | Uncle Gus | Episode: "Roots: Part 1" |
| 2000 | Judging Amy | Judge Fastbind | Episode: "Zero to Sixty" |
| 2000 | Miracle in Lane 2 | Vic Sauder | Television film |
| 2000 | The Trouble with Normal | Mr. Vesper | Episode: "Not One Pilot" |
| 2000–2004 | The District | Deputy Chief Joe Noland | 89 episodes |
| 2005 | Clubhouse | Clyde 'Smoky' Gable | Episode: "Old Timers Day" |
| 2005 | CSI: Crime Scene Investigation | Mr. James | Episode: "Bodies in Motion" |
| 2006 | Criminal Minds | Warden Charles Diehl | Episode: "Riding the Lightning" |
| 2006 | ER | Dr. Jared Ames | Episode: "Body & Soul" |
| 2007 | Saving Grace | Lt. Percy Yukon | 2 episodes |
| 2007 | Life | Det. Carl Ames | 5 episodes |
| 2008 | Medium | Dr. Evan Sabow | Episode: "Aftertaste" |
| 2008 | CSI: NY | Commander Richard Jackson | Episode: "Hostage" |
| 2009 | General Hospital | Senator Fullerton | 2 episodes |
| 2009 | House | Ntila | Episode: "The Tyrant" |
| 2009 | Nip/Tuck | Jeremiah Cole | Episode: "Wesley Clovis" |
| 2010 | Supernatural | Joshua | Episode: "Dark Side of the Moon" |
| 2010 | The Whole Truth | Judge Hampton | Episode: "Judicial Discretion" |
| 2010–2011 | The Legion of Extraordinary Dancers | Narrator | 20 episodes |
| 2012 | See Dad Run | Interviewer | Episode: "See Dad Meet Matthew Pearson" |
| 2013 | Elementary | John Douglas | Episode: "A Landmark Story" |
