2013
Marvel's Agents of S.H.I.E.L.D. as Dr. Streiten (2 episodes)
2012
Strange Frame: Love & Sax as Philo D Grenman (voice)
2010
Death at a Funeral as Duncan
2008
Lakeview Terrace as Harold Perreau
2007
Dirty Sexy Money (1 episode)
2006
Shark as Judge Stewart Fenton (3 episodes)
2006
Done the Impossible as Self
2005
Serenity as Shepherd Derrial Book
2003
All Grown Up! as Randy Carmichael (voice) (4 episodes)
2002
Firefly as Derrial Book (11 episodes)
2001
The Education of Max Bickford (1 episode)
2001
The Proud Family as The Talking Baby (voice) (3 episodes)
2001
A Rugrats Kwanzaa as Randy Carmichael (voice)
2001
Recess: School's Out as Dr. Lazenby / Tech #2 (voice)
2001
The Division (1 episode)
2000
Deal of a Lifetime as Mr. Creighton
2000
CSI: Crime Scene Investigation as Paul Lomax (1 episode)
1999
UnBowed as President Duquesne
1999
Incognito as Marcus Cortland
1999
Twice in a Lifetime as Charlie Winters / Charlie Summers (1 episode)
1997
Teen Angel as Rod (17 episodes)
1997
Back in Business as Allen Smith
1997
The Practice (1 episode)
1996
Mr. Rhodes (19 episodes)
1996
Superman: The Animated Series as News Anchorman (voice) (1 episode)
1995
Star Trek: Voyager as Loken (1 episode)
1995
Houseguest as Dr. Derek Bond
1994
Friends as Russell (2 episodes)
1994
Aladdin as Kwanseer (voice) (1 episode)
1992
Rhythm & Blues (13 episodes)
1991
Rugrats (2 episodes)
1990
Shades of L.A. (1 episode)
1989
Family Matters (1 episode)
1988
Deep Space as Jerry Merris
1986
Perry Mason: The Case of the Shooting Star as Eric Brenner
1986
Designing Women (1 episode)
1985
The Twilight Zone as The Devil (1 episode)
1985
Gus Brown and Midnight Brewster as Midnight Brewster
1984
Murder, She Wrote as Lt. Hanrahan (1 episode)
1983
Sound of Sunshine - Sound of Rain
1982
The New Odd Couple as Felix Unger (18 episodes)
1979
Hart to Hart (1 episode)
1978
The Crash of Flight 401 as Jerry Grant
1975
Barney Miller as Ron Harris (170 episodes)
1975
Let's Switch! as LaRue Williams
1974
Good Times (2 episodes)
1973
Shirts/Skins as Mr. Brown
1973
Beg, Borrow...or Steal as Ray Buren
1972
The Streets of San Francisco (1 episode)
1972
The Streets of San Francisco as Arlen Washington (1 episode)
1972
The Streets of San Francisco as Earl (1 episode)
1972
The Bob Newhart Show (1 episode)
1972
Sanford and Son (2 episodes)
1971
All in the Family as Jack (1 episode)
1968
Hawaii Five-O as J. Paul (1 episode)