| Year | Title | Role | Notes |
|---|
| 1974 | Dr. Max | Dr. John Poole | Television film |
| 1974 | Ironside | Doctor | Episode: "Raise the Devil: Part 2" |
| 1974 | The Waltons | Mr. Andrews | Episode: "The Book" |
| 1974, 1976 | Harry O | Coleman / Fred Lassiter | 2 episodes |
| 1975 | A Cry for Help | Brother Stephen Tyler | Television film |
| 1975 | McCloud | Chuck Donnells | Episode: "Sharks!" |
| 1975 | Someone I Touched | John | Television film |
| 1975 | Baretta | George Parsons | Episode: "This Ain't My Bag" |
| 1975 | Switch | Phil Simon | Episode: "Stung from Beyond" |
| 1975 | The Night That Panicked America | Carl Phillips | Television film |
| 1976 | Dynasty | Creed Vauclose |
| 1977 | The Bionic Woman | Darwin Jones | Episode: "Biofeedback" |
| 1977 | World of Darkness | Paul Taylor | Television film |
| 1977 | The War Between the Tates | Sanford Finkelstein |
| 1977 | Kojak | Fred Toomey | Episode: "Tears for All Who Loved Her" |
| 1977, 1978 | Barnaby Jones | Joe Bannock / R. Ed Dunslay | 2 episodes |
| 1978 | Breaking Up | Tom Hammil | Television film |
| 1978 | The World Beyond | Paul Taylor |
| 1978 | Dr. Scorpion | Terry Batliner |
| 1978 | Love's Dark Ride | Tom Scott |
| 1978 | Escapade | Joshua Rand |
| 1978 | The Eddie Capra Mysteries | Dr. Gatling | Episode: "Dirge for a Dead Dachshund" |
| 1978 | Greatest Heroes of the Bible | Joshua | Episode: "The Ten Commandments" |
| 1978 | Rhoda | Doug Korman | Episode: "The Date in the Iron Mask" |
| 1979 | Transplant | Dr. Kroner | Television film |
| 1979 | Quincy, M.E. | Moyer / Raymond Morrison | 2 episodes |
| 1979 | CHiPs | Lieutenant Harold Bates | Episode: "The Watch Commander" |
| 1979 | High Midnight | Lt. Ellis | Television film |
| 1980 | Paris | Dirk Chase | Episode: "The Price Is Right" |
| 1980 | Stone | Gilardy | Episode: "Deep Sleeper" |
| 1980 | The Stockard Channing Show | Spencer Farrell | Episode: "Advise and Consume" |
| 1980 | Soap | Dr. Hill | 5 episodes |
| 1980 | The Wild and the Free | Raif | Television film |
| 1980 | It's a Living | Frank Ryan | Episode: "The Lois Affair" |
| 1981 | Madame X | Clay Richardson | Television film |
| 1982 | This Is Kate Bennett... | Tim Maxwell |
| 1982 | The Astronauts | Captain Roger Canfield |
| 1982 | Hotline | Justin Price |
| 1983 | Three's Company | Ray Martin | Episode: "Breaking Up Is Hard to Do" |
| 1983 | It Takes Two | Harry Rice | Episode: "The Choice" |
| 1983 | Sutters Bay | Jeff Hamner | Television film |
| 1983 | Allison Sydney Harrison | Walt Spencer |
| 1984, 1988 | Hotel | Lee Jordan / Biff Henry | 2 episodes |
| 1985 | A Death in California | Richard Morgan | Episode #1.1 |
| 1985 | Magnum, P.I. | Clyde Daltrey | Episode: "The Hotel Dick" |
| 1986 | Hill Street Blues | Graham Wells | 3 episodes |
| 1986 | Murder, She Wrote | Congressman Brad Gardner | Episode: "The Perfect Foil" |
| 1986 | Moonlighting | Alan Margolese | Episode: "Funeral for a Door Nail" |
| 1986–1987 | The New Adventures of Jonny Quest | Race Bannon | 13 episodes |
| 1987 | Karen's Song | Zach Matthews | 3 episodes |
| 1987 | Highway to Heaven | Bob Bailey | Episode: "I Was a Middle Aged Werewolf" |
| 1987 | Mr. Belvedere | Doug Metcalf | Episode: "Marsha's Job" |
| 1987 | Matlock | Paul J. Bartel | Episode: "The Network" |
| 1988 | Family Ties | Mr. Carter | Episode: "Read It and Weep: Part 2" |
| 1989 | Father Dowling Mysteries | Carter | Episode: "The Man Who Came to Dinner Mystery" |
| 1989 | The People Next Door | Neal Ferrall | Episode: "Dream Date" |
| 1990 | Hunter | Eddie Sanders | Episode: "Broken Dreams" |
| 1990 | The Rose and the Jackal | Tom | Television film |
| 1990 | Doogie Howser, M.D. | Dr. Johnathan Reardon | Episode: "Oh Very Young" |
| 1992 | The Boys of Twilight | N/A | Episode: "Pilot" |
| 1993 | FBI: The Untold Stories | Henry Vance | Episode: "Kill for Love" |
| 1993 | Jonny's Golden Quest | 'Race' Bannon | Television film; voice |
| 1993, 2000 | Diagnosis: Murder | Defense Attorney McNamara / Herb Morton | 2 episodes |
| 1994 | Silk Stalkings | Paul Reicher | Episode: "Ghosts of the Past" |
| 1994 | Sweet Justice | Jude Lattimore | Episode: "Story of My Life" |
| 1995 | Melrose Place | Dr. Steele | Episode: "Breakfast at Tiffany's, Dinner at Eight" |
| 1995 | Freakazoid! | Dash O'Pepper | Episode: "Candle Jack/Toby Danger in Doomsday Bet/The Lobe" |
| 1995 | Jonny Quest vs. The Cyber Insects | 'Race' Bannon | Television film; voice |
| 1995 | Sisters | Bryce Hayden | Episode: "Sleeping Beauty" |
| 1996 | Space: Above and Beyond | General Weirick | Episode: "Sugar Dirt" |
| 1996 | One West Waikiki | Morton Boland | Episode: "Allergic to Golf" |
| 1996 | Lois & Clark: The New Adventures of Superman | D.A. Michael Clemmons | 2 episodes |
| 1996 | The Real Adventures of Jonny Quest | Roger T. 'Race' Bannon / Race Bannon | 6 episodes |
| 1997 | Aaahh!!! Real Monsters | Newsreel Announcer / Gentleman | Episode: "Nuclear and Present Danger/Loch Ness Mess" |
| 1997–2001 | The Young and the Restless | Keith Dennison | 51 episodes |
| 1998 | Dr. Quinn, Medicine Woman | Senator Dinston | Episode: "Seeds of Doubt" |
| 1998 | Suddenly Susan | Alan Piper | Episode: "Daddy Piper" |
| 1998 | You Lucky Dog | Mr. Fister | Television film |
| 1998 | Buddy Faro | Jackie Conklin | Episode: "Pilot" |
| 1998 | Walker, Texas Ranger | Neal Banyon | Episode: "Second Chance" |
| 1999 | Sliders | Keeper Abraham | Episode: "The Great Work" |
| 1999 | Port Charles | David Bordisso | 102 episodes |
| 2000 | Zoe, Duncan, Jack and Jane | Heintz | Episode: "Crossing the Line" |
| 2000–2001 | Judging Amy | Judge Clarence Faraday | 4 episodes |
| 2002 | Gilmore Girls | Darren Springsteen | Episode: "Application Anxiety" |
| 2003 | The West Wing | Assistant Secretary of State for Public Affairs Bryce Lilly | Episode: "Inauguration: Part 1" |
| 2003, 2004 | Star Trek: Enterprise | Andorian General / Klingon Magistrate | 2 episodes |
