| Year | Title | Role | Notes |
|---|
| 1992 | Law & Order | Rudy Amendariz | Episode: "Wedded Bliss" |
| 1994 | NYPD Blue | Bobby Ruiz | Episode: "You Bet Your Life" |
| 1995 | The Cosby Mysteries | Espinosa Spinoza | Recurring Cast |
| 1994–96 | New York Undercover | Jimmy Torres | Recurring Cast: Season 1–2 |
| 1996–97 | Mad About You | Arturo the Hairdresser | Guest Cast: Season 1–2 |
| 1997 | Prince Street | - | Episode: "Pilot" |
| 1997–98 | Nothing Sacred | Juan Alberto "J.A." Ortiz | Main Cast |
| 1998 | Sins of the City | Freddie Corillo | Recurring Cast |
| Law & Order | Detective Mark Rivera | Episode: "Bait" |
| 2000 | Get Real | Dr. Carroll | Episode: "Waiting" |
| 2001–02 | That's Life | Ray Orozco | Recurring Cast: Season 2 |
| 2001–04 | Law & Order: Special Victims Unit | TARU Technician Miguel Cruz | Guest: Season 3, Recurring: Season 5 |
| 2002 | Crossing Jordan | George Cortinez | Episode: "Blood Relatives" |
| Touched by an Angel | Oscar | Episode: "The Christmas Watch" |
| 2003 | Dragnet | Review Board Investigator #2 | Episode: "The Little Guy" |
| Karen Sisco | Julio | Episode: "Dear Derwood" |
| CSI: Miami | Carl Galaz | Episode: "Simple Man" |
| 2004 | Century City | Attorney Randall Purgaman | Recurring Cast |
| ER | Eduardo Lopez | Guest Cast: Season 10–11 |
| Law & Order | Christoff | Episode: "Cry Wolf" |
| 2004–10 | CSI: Crime Scene Investigation | Chris Cavaliere | Guest: Seasons 4, 6, 10; Recurring: Seasons 5, 9 |
| 2005 | Alias | Roberto Fox | Episode: "The Orphan" |
| The Shield | Gino | Recurring Cast: Season 4 |
| Bones | Mickey Santana | Recurring Cast: Season 1 |
| 2006 | 24 | Joseph Malina | Episode: "Day 5: 4:00 a.m.-5:00 a.m." |
| Dexter | Jorge Castillo | Episode: "Love American Style" |
| Law & Order | Detective Borough Investigator | Episode: "In Vino Veritas" |
| Prison Break | Coyote | Recurring Cast: Season 2 |
| 2006–07 | The O.C. | Jason Spitz | Guest: Season 3, Recurring Cast: Season 4 |
| 2007 | Numb3rs | Bernardo Infante | Episode: "Take Out" |
| Justice | Detective Mendoza | Episode: "False Confession" |
| NCIS | Dr. Adrian De La Casa | Episode: "Corporal Punishment" |
| Saving Grace | Ronnie | Recurring Cast: Season 1 |
| 2008 | CSI: Miami | Juan Ortega | Guest Cast: Season 6–7 |
| 2008–10 | Ghost Whisperer | Officer Reed Simonds/Luis Simon | Guest: Season 3, Recurring: Season 5 |
| 2009 | Grey's Anatomy | Anthony Merlot | Episode: "Sweet Surrender" |
| Medium | Oswaldo Castillo | Episode: "Bring Me the Head of Oswaldo Castillo" |
| Dark Blue | Agent Boyle | Episode: "Pilot" |
| Lie to Me | Detective Molina | Episode: "Control Factor" |
| Nip/Tuck | Detective Cyrus | Episode: "Abigail Sullivan" |
| 2010 | Castle | Alfredo Quintana | Episode: "Suicide Squeeze" |
| Law & Order: Criminal Intent | Senator Victor Caldera | Episode: "True Legacy" |
| Childrens Hospital | Gang Boss | Episode: "The Coffee Machine Paid for Itself" |
| 2011 | Off the Map | Julio | Recurring Cast |
| The Chicago Code | Daniel Romero | Episode: "Black Hand and the Shotgun Man" |
| Suits | Harry the Cab Driver | Episode: "Bail Out" |
| The Event | Carlos Geller | Recurring Cast |
| A Gifted Man | Richard Flores | Episode: "In Case of Memory Loss" |
| 2012 | Person of Interest | Vargas | Episode: "Blue Code" |
| House | Nate Weinmann | Episode: "Man of the House" |
| Desperate Housewives | Detective Heredia | Recurring Cast: Season 8 |
| Scandal | General Benicio Florez | Episode: "Enemy of the State" |
| Harry's Law | Attorney Hector Walsh | Episode: "And the Band Played On" |
| 666 Park Avenue | Commissioner Pike | Episode: "Hero Complex" |
| Burn Notice | Vasquez | Episode: "Desperate Measures" |
| 2013 | Body of Proof | Roberto Franco | Episode: "Dark City" |
| 2014 | Taxi Brooklyn | Detective Eddie Esposito | Main Cast |
| The Last Ship | El Toro | Episode: "El Toro" |
| Scorpion | Lou Rake | Episode: "Shorthanded" |
| 2015 | How to Get Away with Murder | Jorge Castillo | Episode: "Best Christmas Ever" |
| The Night Shift | Frank | Episode: "Parenthood" |
| Criminal Minds | Al Eisenmund | Episode: "The Job" |
| The Player | The Secretary of ... | Episode: "Ante Up" |
| Code Black | Chef Holder | Episode: "Sometimes It's a Zebra" |
| 2016 | From Dusk till Dawn: The Series | Emilio | Episode: "Head Games" |
| Better Things | Henry | Recurring Cast: Season 1 |
| Agents of S.H.I.E.L.D. | Eli Morrow | Recurring Cast:Season 4 |
| Notorious | Raul Mora | Episode: "Taken" |
| 2016–17 | Shooter | Simon Porter | Episode: "Sometimes It's a Zebra" |
| 2016–19 | Madam Secretary | Vice President Carlos Morejon | Guest: Season 2, Recurring: Seasons 4–6 |
| 2017 | Snowfall | Ramiro | Recurring Cast: Season 1 |
| 2018 | The Assassination of Gianni Versace | Detective George Navarro | Recurring Cast |
| The Blacklist | Gonzalez | Episode: "Lawrence Dane Devlin (No. 26)" |
| New Amsterdam | Louis 'Lou' Navarro | Episode: "Cavitation" |
| The Rookie | Nestor Garcia | Episode: "The Switch" |
| 2019 | For the People | Randy Stanton | Episode: "You Belong Here" |
| Hawaii Five-0 | Flores | Episode: "Hewa ka lima" |
| 2020–21 | The Expanse | Carlos "Bull" de Baca | Recurring Cast: Season 5 |
| 2021 | Narcos: Mexico | Jesus Gutierrez Rebollo | Recurring Cast: Season 3 |
| 2022 | Chicago P.D. | Javier Escano | Recurring Cast: Season 9 |
| Westworld | Vice President | Episode: "Well Enough Alone" |
| Quantum Leap | Commander Jim Reynolds | Episode: "Atlantis" |
| 2023 | True Lies | General Hernan Alvaro Ochoa | Episode: "Friendly Enemies" |
| Physical | Carlos | Recurring Cast: Season 3 |
| 2024 | Griselda | Amilcar | Recurring Cast |
| Accused | Detective Serrano | Episode: "Lorraine's Story" |
