| Year | Title | Role | Notes |
|---|
| 1983 | Alice | Ted | Episode: "Alice's Blind Date" |
| 1984 | Santa Barbara | Policeman | Episode: "Episode #1.76" |
| 1984 | The Kids of Degrassi Street | Uncle Jake | Episode: "Liz Sits the Schlegels" |
| 1985 | V | Visitor Judge | Episode: "The Champion" |
| 1985 | Knots Landing | Monitor #2 | Episode: "Vulnerable"; credited as Steven V. Barr |
| 1985 | Remington Steele | Jake Reilly | Episode: "Grappling Steele" |
| 1986 | The New Mike Hammer | Brian | Episode: "Deirdre" |
| 1986 | Hill Street Blues | Bailiff #2 | Episode: "Bald Ambition"; credited as Steven V. Barr |
| 1987–1989 | Days of Our Lives | Rip / Lionel T. Bell / Sammy Clyde Pearsons | 7 episodes |
| 1988 | Hooperman | SWAT Team Member | Episode: "Chariots of Fire" |
| 1988 | Matlock | 1st Henchman | 2 episodes |
| 1988 | Night Court | Mr. Higgins | Episode: "Night Court of the Living Dead" |
| 1989 | Everybody's Baby: The Rescue of Jessica McClure | | Television film |
| 1989 | L.A. Law | Steve | Episode: "The Unsterile Cuckoo" |
| 1989 | Superior Court | Wesley Barrett | Episode: "State vs. Feather" |
| 1990 | Drug Wars: The Camarena Story | INS Cop | 3 episodes |
| 1990 | Fall from Grace | Bodyguard #1 | Television film; credited as Steven V. Barr |
| 1990 | The Great Los Angeles Earthquake | Officer Johnson | Television film; credited as Steven V. Barr |
| 1991 | The Heroes of Desert Storm | | Television film |
| 1992 | Beverly Hills, 90210 | Don | Episode: "The Back Story" |
| 1993 | Step by Step | Announcer | Episode: "The Un-Natural" |
| 1993 | Bodies of Evidence | John McCarty | Episode: "Flesh and Blood" |
| 1993 | The Mommies | Santa #3 | Episode: "Christmas" |
| 1994 | Melrose Place | Police Officer | Episode: "The Doctor Who Rocks the Cradle" |
| 1995 | Virtual Seduction | Front Gate Guard | Television film |
| 1995 | Murder One | Andrew Campagna | Episode: "Chapter Two" |
| 1996 | JAG | Deputy Sheriff Terence Hodge | Episode: "Survivors" |
| 1996 | Dark Skies | Patrolman | Episode: "Mercury Rising" |
| 1996–2001 | Diagnosis: Murder | Bendricks / Dean Stroll | 2 episodes |
| 1997 | Pacific Blue | Michael Evans | Episode: "Lost and Found" |
| 1997 | Arli$$ | Ted Higgins | Episode: "The Real Thing"; credited as Steve Barr |
| 1997 | L.A. Heat | Officer Bill Wyatt | Episode: "Killing on Lily Lane"; credited as Steve Barr |
| 1997 | Team Knight Rider | Husband | Episode: "Oil & Water" |
| 1998 | Prey | Det. Masters | Episode: "Discovery" |
| 1998 | Teen Angel | Terry | Episode: "The Un-Natural" |
| 1998 | To Have & to Hold | Officer Dobson | Episode: "These Boots Were Made for Stalking" |
| 1998 | Two Guys, a Girl and a Pizza Place | Man in the park | Episode: "Two Guys, a Girl and a Christmas Story" |
| 1998–1999 | Any Day Now | | 2 episodes |
| 1999 | Home Improvement | Coach | Episode: "Trouble-a-Bruin" |
| 1999 | Profiler | Robert Lee Gregg | Episode: "What's Love Got to Do with It?" |
| 2000 | The X-Files | Courier Guard | Episode: "The Amazing Maleeni" |
| 2000 | King of the Hill | Cole (voice) | Episode: "Hank's Bad Hair Day" |
| 2000 | Manhattan, AZ | Daniel's Father | Episode: "Jake's Daughter" |
| 2000 | The Michael Richards Show | Man | Episode: "Simplification" |
| 2001 | Angel | Captain | Episode: "The Thin Dead Line" |
| 2001 | The Princess & the Marine | Dale | Television film |
| 2001 | Providence | George Blankenship | Episode: "Love Story" |
| 2001 | Sabrina the Teenage Witch | Mr. Martin | Episode: "Witchright Hall" |
| 2001 | The Division | | Episode: "Obsessions" |
| 2001 | V.I.P. | Martin | Episode: "South by Southwest" |
| 2001 | 7th Heaven | Chief | Episode: "Consideration" |
| 2002 | The Agency | | Episode: "The Golden Hour" |
| 2002 | Malcolm in the Middle | Deputy | Episode: "Monkey" |
| 2002 | The Jersey | Coach | Episode: "Coleman's Big Date" |
| 2003 | Dragnet | | Episode: "Sticks and Stones" |
| 2003 | Crossing Jordan | Trawlerman | Episode: "Dead Wives' Club" |
| 2003 | ER | Construction Foreman | Episode: "When Night Meets Day" |
| 2003 | CSI: Crime Scene Investigation | Ranger | Episode: "Fur and Loathing |
| 2005 | McBride: Anybody Here Murder Marty? | Detective King | Television film; credited as Steve Barr |
| 2007 | Day Break | Hippo | 3 episodes |
| 2007 | Journeyman | | Episode: "A Love of a Lifetime" |
| 2011 | Rules of Engagement | P.A. Announcer (voice) | Episode: "Zygote" |
