| Year | Title | Role | Notes |
| 1983–87 | Silver Spoons | Alfonso Spears | Main Cast: Season 3–5 |
| 1985 | NBC Special Treat | Himself | Episode: "Kids Just Kids" |
| 1986 | One to Grow On | Himself | Episode: "Responsible Spending" |
| Magnum, P.I. | Kenneth | Recurring Cast: Season 7 |
| 1988 | CBS Schoolbreak Special | Buddy | Episode: "Home Sweet Homeless" |
| 1990 | A Different World | Zach Duncan | Episode: "Hillmann Isn't Through With You Yet" |
| 1990–96 | The Fresh Prince of Bel-Air | Carlton Banks | Main Cast |
| 1992 | An Evening at the Improv | Himself/Host | Episode: "Episode " |
| Where in the World Is Carmen Sandiego? | Himself | Episode: "She Took the Notes Right of My Mouth" |
| 1993 | Scattergories | Himself/Panelist | Episode: "Episode " |
| 1994 | Soul Train | Himself/Guest Host | Episode: "R. Kelly/Gabrielle" |
| Bill Nye, the Science Guy | Himself | Episode: "Food Web" |
| 1995–99 | In the House | Carlton Banks/Dr. Maxwell Stanton | Guest: Season 2, Main Cast: Season 3–5 |
| 1996–97 | Spider-Man: The Animated Series | Randy Robertson (voice) | Guest Cast: Season 3–4 |
| 1997 | Wild On! | Himself | Episode: "Wild on the Bermuda Triangle" |
| Happily Ever After: Fairy Tales for Every Child | Kephra (voice) | Episode: "King Midas and the Golden Touch" |
| Extreme Ghostbusters | Roland Jackson (voice) | Main Cast |
| 1999 | V.I.P. | Himself | Episode: "The Last Temptation of Val" |
| 2000–01 | Your Big Break | Himself/Host | Main Host: Season 2 |
| 2001 | The Test | Himself/Panelist | Episode: "The Voyeur Test" |
| The Weakest Link | Himself/Contestant | Episode: "TV Child Stars Edition" |
| 2002 | I Love the '80s | Himself | Recurring Guest |
| One on One | Lenny | Episode: "Me and My Shadow" |
| The Rerun Show | Dwayne | Episode: "Bewitched: Divided He Falls/What's Happening!!: Rerun Gets Married" |
| For Your Love | Ray | Episode: "The Professionals" |
| 2002–03 | The Brothers García | Mr. Sweets | Guest Cast: Season 3-4 |
| 2004 | I Love the '90s | Himself | Main Guest |
| 2003 | Cedric the Entertainer Presents | Himself | Episode: "Episode " |
| 2006 | Celebrity Duets | Himself/Contestant | Main Guest |
| Robot Chicken | Himself (voice) | Episode: "Veggies for Sloth/Blankets in a Pig" |
| 2007 | E! True Hollywood Story | Himself | Episode: "Will Smith" |
| The Singing Bee | Himself | Episode: "Episode " |
| Dancing with the Stars | Himself | Episode: "Round 5 Results" |
| 2008 | Last Comic Standing | Himself/Talent Scout | Episode: "Auditions 2" |
| Gumball 3000: Off Road | Himself/Host | Main Host |
| 2008–09 | GSN Live | Himself/Host | Main Host |
| 2008–11 | Catch 21 | Himself/Host | Main Host |
| 2010 | Gylne tider | Himself | Episode: "Episode " |
| 2011 | Are We There Yet? | Skinner (voice) | Recurring Cast: Season 2 |
| Things We Do for Love | Darren | Main Cast |
| 2012 | Kendra on Top | Himself | Episode: "Fore Play" |
| Kitchen Cousins | Himself | Episode: "A Fresh Perspective" |
| Big Time Rush | Captain McAllister | Episode: "Bel Air Rush" |
| 2013 | Spell-Mageddon | Himself/Host | Main Host |
| I'm a Celebrity...Get Me Out of Here! | Himself/Contestant | Contestant: Season 13 |
| Shake It Up | Mr. Zigfeld | Episode: "My Fair Librarian it Up" |
| 2013–17 | Access Hollywood | Himself/Guest Co-Host | Recurring Guest Co-Host |
| 2014–present | Dancing with the Stars | Himself/Contestant/Host | Contestant: Season 19, Guest: Season 20–21 & 25 & 28, Main Host: Season 31– |
| 2015 | America | Himself/Host | Main Host |
