| Year | Title | Role | Notes |
|---|
| 1989 | Love and Other Sorrows | Sonny Brewster | TV movie |
| When We Were Young | Unknown | TV movie |
| Paradise | Lt. Hayes | |
| 1989–1991 | Shannon's Deal | Sean Gardner | 2 episodes |
| 1990 | Dallas | Ensign Malley | |
| Family of Spies | Aide | |
| 21 Jump Street | Sean Livingston | |
| 1991 | Star Trek: The Next Generation | Simon Tarses | Episode: "The Drumhead" |
| My Life and Times | Peter Hagerty | |
| 1991–1993 | Reasonable Doubts | Darren Burke | |
| 1993 | Love & War | John Grantham | |
| 1993–1996 | Murder, She Wrote | Nicholas Derby / Aaron Woodman | |
| 1994 | Dr. Quinn, Medicine Woman | Capt. Arthur Tyrrell | |
| Someone She Knows | Lt. Harry Kramer | TV movie |
| Without Warning | Paul Collingwood | TV movie |
| 1995 | University Hospital | Tommy | |
| M.A.N.T.I.S. | Jeffries | |
| The Watcher | Unknown | |
| Family Matters | Larry Johnson | |
| 1995–1996 | Murder One | Officer / Officer #1 | |
| 1995, 2004 | JAG | First Lieutenant Vince Boone / Commander Andrew Stotler | 2 episodes |
| 1996 | Smoke Jumpers | Hempstead | TV movie |
| The Client | McElroy | |
| Encino Woman | Bobby | TV movie |
| Promised Land | Young Warren Dempsey | |
| 1997 | Moloney | Unknown | |
| Dark Skies | Ed Hawkins | |
| Hitz | Tommy Stans | |
| 1998 | Four Corners | Unknown | |
| The Tiger Woods Story | Hughes Norton | TV movie |
| Oh Baby | Unknown | |
| Columbo | Roger Gambles | Episode: "Ashes to Ashes" |
| NewsRadio | G-Man/FBI Agent | Episode: "The Lam" |
| The Practice | A.D.A. Carter | |
| 1999 | Touched by an Angel | Jacob/William Kitchell | Episode: "Into the Fire" |
| Hard Time: Hostage Hotel | Miles McCurdy | TV movie |
| 1999–2002 | Judging Amy | AAG Franklin Dobbs | 4 episodes |
| 2000 | The X-Files | Harry Bring | Episode: "Sein und Zeit" |
| Sports Night | Peter Sadler | |
| Star Trek: Voyager | Weiss | Episode: "Flesh and Blood" |
| 2000–2004 | Law & Order | Defense Attorney Stephen Olson | 3 episodes |
| 2001 | The Weber Show | Jim | |
| The West Wing | Richard Will | |
| Just Ask My Children | Alvin McCuan | TV movie |
| V.I.P. | Rygel | |
| CSI: Crime Scene Investigation | Mercer's Doctor | |
| 2001–2002 | The Invisible Man | Jarod Stark | 8 episodes |
| 2002 | The District | Stephen McQuade | |
| The Division | Charlie McBride | |
| Do Over | Mike Kujakowski | |
| 2003 | Crossing Jordan | Paramax Industries Official | |
| Without a Trace | Spaulding's Defense Attorney | |
| Dragnet | Roy Wingate | |
| Strong Medicine | Cal Wallace | |
| Gary the Rat | Truman Pinksdale (voice) | |
| American Dreams | Father Patrick | |
| George Lopez | Unknown | |
| Carnivàle | Young Balthus | |
| Miracles | Detective Freemont | |
| The Lyon's Den | Attorney Emergloch | |
| 2004 | Homeland Security | Unknown | TV movie; uncredited |
| American Family | Unknown | |
| North Shore | David | |
| Las Vegas | Paul Snow | |
| NCIS | Commander Spencer | |
| Cold Case | Ben Kern 1983 | |
| 2005 | Close to Home | Frank Barringer | |
| 2006 | E-Ring | Norman 'Doc' Wiley | |
| Wicked Wicked Games | Mark Gannon | |
| 2007 | 24 | Ben Kram | |
| Supernatural | Edward Carrigan | Episode: "A Very Supernatural Christmas" |
| 2009 | The Mentalist | Michael Elkins | Episode: "Red Rum" |
| Gary Unmarried | Edward | |
| Criminal Minds | Det. Bill Lancaster | Episode: "A Shade of Gray" |
| Three Rivers | Robert Drinkwater | |
| Lie to Me | Mr. Anders | |
| 2009, 2010 | Medium | HR Executive | 2 episodes |
| 2010 | Burn Notice | Lynch | Episode: "Noble Causes" |
| Grey's Anatomy | Jim Walker | |
| The Good Guys | Mike Smith | |
| Leverage | Mark Vector | Episode: "The Morning After Job" |
| Nikita | Senator Kerrigan | |
| 2011 | Law & Order: Criminal Intent | Paul Keller | Episode: "Rispetto" |
| Rizzoli & Isles | Bill Sutton | Episode: "Gone Daddy Gone" |
| 2011–2012 | Luck | Maurice | 3 episodes |
| 2012 | The Finder | Ed Scanian | |
| Game Change | Stephen Biegun | TV movie |
| NCIS: Los Angeles | Peter Clairmont | Episode: "Blye, K., Part 2" |
| Harry's Law | Beacon | |
| Hawaii Five-0 | Ted Lansing | |
| Perception | Howard Reycraft | |
| BlackBoxTV Presents | Alex's Dad | |
| Switched at Birth | Ted Rainford | |
| 2013 | Castle | Evan Pierce | Episode: "Death Gone Crazy" |
| Mad Men | Andy Hayes | Episode: "A Tale of Two Cities" |
| King & Maxwell | George Clark | |
| Masters of Sex | Beckett | |
| 2013–2014 | The Legend of Korra | President Raiko / various (voice) | |
| 2013–2016 | Major Crimes | Charles Hardin | |
| 2014 | House of Cards | Howard Webb | |
| Franklin & Bash | Jeff Lisk | |
| Legends | Senator Clancy Gorman | |
| 2014–2015 | Satisfaction | Victor O'Connell | |
| 2015 | Scorpion | Wilson Eckherd | |
| Murder in the First | Dr. Frank Rentman | |
| Blood & Oil | Myron Stipple | |
| 2015–2016 | Aquarius | Hal Banyin | 11 episodes |
| 2015–2017 | Survivor's Remorse | Clay Beckwith | |
| 2016 | All the Way | Walter Reuther | TV movie |
| 2016–2018 | The Magicians | Ted Coldwater | |
| 2017 | Timeless | Senator Joseph McCarthy | |
| Insecure | John Merrill | |
| Room 104 | Dr. Dan Benich (voice) | |
| Dice | Network Producer | |
| Lethal Weapon | Albert Cook | |
| 2017–2021 | Bosch | J. Reason Fowkkes | 10 episodes |
| 2018 | Unsolved | Commander Ryan | |
| Code Black | Marshall Barnes | |
| 2019 | The Good Doctor | Pastor Clarence | Episode: "Believe" |
| For the People | Bob Colgate | |
| How to Get Away with Murder | Alexander Ballast | Episode: "Family Sucks" |
| Why Women Kill | Hal Burke | |
| Liza on Demand | Daddy | |
| How to Get Away with Murder | Alexander Ballast | |
| Madam Secretary | Alan Canning | 2 episodes |
| 2019–2021 | For All Mankind | Roger Scott | 8 episodes |
| 2020 | Project Blue Book | General Ryan Blackstone | |
| Chicago P.D. | Wade Henslow | Episode: "Buried Secrets" |
| Dirty John | Judge Spiller | |
| The Comey Rule | Bill Sweeney | |
| 2021 | Heels | Pastor Henry | |
| Goliath | Mark Schafer | |
| 2022–2023 | Winning Time: The Rise of the Lakers Dynasty | Chick Hearn | |
| 2024 | Station 19 | James Beckett | |
| 2025 | The Residence | Wally Glick | |
