2024
Shirley as Stanley Townsend
2024
Ragtime Reunion Concert as Coalhouse Walker Jr.
2023
Celebrating 50 Years of Broadway's Best as Self
2023
Up Here as Ted McGooch (2 episodes)
2023
Black Broadway: A Proud History, A Limitless Future as Self
2022
East New York as Ken Corley (3 episodes)
2021
20 Years of Christmas With The Tabernacle Choir as Guest Host
2021
tick, tick... BOOM! as "Sunday" Legend #8
2021
Centaurworld as Nowhere King (voice) (3 episodes)
2021
Centaurworld as Nowhere King / Elk / Henchman 2 (voice) (1 episode)
2020
In Concert at The Hollywood Bowl: Musicals and the Movies as Soloist
2020
Give My Regards to Broadway as Self
2020
Take Me to the World: A Sondheim 90th Birthday Celebration as Self - Performer
2020
Stars in the House as Narrator (1 episode)
2020
Stars in the House as Self (2 episodes)
2020
Stars in the House as Self - Special Guest (4 episodes)
2019
Evil as Father Mulvehill (5 episodes)
2019
Prodigal Son as Everett Sterling (2 episodes)
2019
Fam as Walt (13 episodes)
2018
American Theatre Wing Centennial Concert
2017
Broadway: The Next Generation as Self
2017
The Good Fight as Rod Habercore (2 episodes)
2016
Bull as Perry Sinclair (1 episode)
2015
Mr. Robot as Scott Knowles (8 episodes)
2013
The Blacklist as David Levine (1 episode)
2012
Elementary as Dominic Voth (1 episode)
2011
Jumping the Broom as Mr. Watson
2009
Ring Christmas Bells as Self
2009
Glee as LeRoy Berry (3 episodes)
2006
Ugly Betty as Don Jones (1 episode)
2006
The Best of The Tony Awards: The Plays as King (segment "King Hedley II")
2006
South Pacific: In Concert from Carnegie Hall as Emile de Becque
2005
One Last Thing... as Dr. Emerson
2005
Broadway's Lost Treasures III: The Best of The Tony Awards as Coalhouse Walker Jr. (segment "Ragtime") (archive footage)
2004
Broadway's Lost Treasures II as Host (segment "The Leads")
2001
Call Me Claus as Cameron
2001
Ruby's Bucket of Blood as Earl Delacroix
2001
Crossing Jordan as Jay Myers (2 episodes)
1999
Double Platinum as Adam Harris
1999
Too Rich: The Secret Life of Doris Duke as Duke Kahanamoku (4 episodes)
1998
The Prince of Egypt as Jethro (singing voice) (uncredited)
1995
Pinky and the Brain as Big Jimmy Fruithead (voice) (1 episode)
1995
In the House (1 episode)
1993
Frasier as Cam Winston (3 episodes)
1993
The Ernest Green Story as Thurgood Marshall
1992
Batman: The Animated Series as Brian (voice) (1 episode)
1992
Defenders of Dynatron City as Monkey Kid (voice)
1991
James Bond Jr. (65 episodes)
1990
Tiny Toon Adventures as Vinnie (voice) (1 episode)
1990
The Fresh Prince of Bel-Air as Trevor (6 episodes)
1990
New Kids on the Block (15 episodes)
1990
Raisins Sold Out: The California Raisins II as Red
1990
Ghost Dad as Mr. Turner
1989
Mancuso, F.B.I. (2 episodes)
1989
The California Raisin Show (15 episodes)
1988
Scooby-Doo! and the Reluctant Werewolf as Bonejangles (voice)
1988
A Pup Named Scooby-Doo as Buddy Chiller (voice) (1 episode)
1987
Houston Knights (1 episode)
1986
ALF as Congressman Nathan Peal (1 episode)
1984
Night Court as Mr. Morley (1 episode)
1979
Trapper John, M.D. as Justin "Jackpot" Jackson (151 episodes)
1979
Roots: The Next Generations as John Dolan (7 episodes)
1978
The White Shadow as Lucius Robinson (1 episode)
1977
The Love Boat (1 episode)
1960
The Flintstones as Additional Voices (voice) (2 episodes)
1956
Tony Awards as Self (1 episode)