| Year | Title | Role | Notes | Reference(s) |
| 1978 | Charlie's Angels | Ted Machlin | Episode: "The Jade Trap" | |
| 1979 | Murder by Natural Causes | Gil Weston | Television film | |
| You Can't Take It With You | Anthony Kirby Jr. | |
| Hawaii Five-O | Lucas Sandover | Episode: "Year of the Horse" | |
| 1980 | Scruples | Spider Elliot | Television miniseries | |
| 1981 | Red Flag: The Ultimate Game | Maj. Jay Rivers | Television film | |
| 1982 | Working | Steelworker | American Playhouse production | |
| 1983 | Summer Girl | Gavin Shelburne | Television film | |
| An Uncommon Love | Mr. Kinser | |
| 1984 | Saturday Night Live | Host | May 5, 1984 | |
| George Washington | George Washington | Television miniseries | |
| 1985 | A Woman of Substance | Major Paul McGill | |
| Deceptions | Grant Roberts | Television film | |
| 1986 | George Washington II: The Forging of a Nation | George Washington | |
| Betrayed By Innocence | Nick DeLeon | |
| 1987 | I'll Take Manhattan | Zachary Amberville | Television miniseries | |
| 1988 | War and Remembrance | Lieutenant Carter "Lady" Aster | |
| Body of Evidence | Mark Dwyer | Television film | |
| Addicted to His Love | Larry Hogan | |
| 1989 | Till We Meet Again | Terrence 'Mac' McGuire | Television miniseries | |
| Parent Trap III | Jeffrey Wyatt | Television film | |
| Parent Trap: Hawaiian Honeymoon | Jeffrey Wyatt | |
| 1990 | Aladdin | Genie of the Lamp / Genie of the Ring | |
| Challenger | Comm. Francis R. Scobee | |
| The Great Air Race | Roscoe Turner | Television miniseries | |
| 1992 | The Golden Palace | Nick DiCarlo | Episode: "Just a Gigolo" | |
| 1993 | The Last U-Boat | Captain Hawkins | Television film | |
| Between Love and Hate | Justin Conrad | |
| Praying Mantis | Don McAndrews | |
| 1994 | Once in a Lifetime | Dr. Matthew Dane | |
| 1995 | The Secretary | Eric Bradford | |
| The Return of Hunter | Matt Sherry | |
| Grace Under Fire | Professor Jack Drayson | Episode: "Mother & Son & Father Reunion" | |
| High Society | Mark Finnegan | Episode: "Finnigan's Rainbow" | |
| 919 Fifth Avenue | Mr. Lawrence Van Degen | Television film | |
| 1996–2002 | Spin City | Mayor Randall Winston | Main role, 144 episodes | |
| 1996 | A Different Kind of Christmas | Frank Mallory | Television film | |
| 1997 | Lexx | Thodin | Episode: "I Worship His Shadow" | |
| 1998 | One Hot Summer Night | Art Brooks | Television film | |
| The New Batman Adventures | Irv Kleinman | Voice, episode: "Mean Seasons" | |
| 1999 | Behind the Music | Himself | Episode: "The Rocky Horror Picture Show" |
| 2003 | Scrubs | Mr. Randolph | Episode: "My Dirty Secret" | |
| 2004–2007 | Law & Order: Special Victims Unit | Oliver Gates | Recurring role, 5 episodes | |
| 2005 | Las Vegas | Martin | Episode: "Down and Dirty" | |
| Cold Case | Roy Brigham Anthony | Episode: "Creatures of the Night" | |
| 2005–2006 | What I Like About You | Jack Tyler | 2 episodes | |
| 2007–2012 | Phineas and Ferb | Grandpa Clyde Flynn | Voice, 8 episodes | |
| 2007 | Ugly Betty | Roger Adams | 2 episodes | |
| Love Is a Four Letter Word | Mr. Harper | Television film | |