| Year | Title | Role | Notes |
| 1988 | Dear John | Matthew Lacey | Recurring role; 5 episodes |
| 1990 | The Wonder Years | Curtis Hartsell | Episode: "The St. Valentine's Day Massacre" |
| A Family for Joe | Chris Bankston | Main role |
| Hurricane Sam | Sam Kelvin | Television film |
| 1992 | She Woke Up | Andy |
| 1993 | Wild Palms | Coty Wyckoff | Miniseries; main role |
| 1993–2000 | Boy Meets World | Cory Matthews | Lead role |
| 1994 | Aliens for Breakfast | Richard | Television film |
| 1996 | Maybe This Time | Cory Matthews | Episode: "Acting Out" |
| 1996 | Party of Five | Stuart | Episodes: "Close to You", "Christmas" |
| 1998 | Adventures from the Book of Virtues | Jinkyswoitmaya (voice) | Episode: "Determination" |
| 2005 | Still Standing | Seth Cosella | Episode: "Still the Boss" |
| Phil of the Future | Himself | Episode: "Time Release Capsule" |
| 2007 | Making It Legal | Todd | Television film |
| 2008 | Chuck | Mark Ratner | Episode: "Chuck Versus the Cougars" |
| Without a Trace | Kirby Morris | Episode: "Cloudy with a Chance of Gettysburg" |
| 2011 | Shake It Up | Andy Burns | Episode: "Review It Up" |
| Bones | Hugh Burnside | Episode: "The Male in the Mail" |
| 2012 | Lake Effects | Carl | Television film |
| 2014–2017 | Girl Meets World | Cory Matthews | Main role; also co-producer and directed 10 episodes |
| 2015–2020 | Criminal Minds | Young Jason Gideon | Episodes: "Nelson's Sparrow", "Face Off" |
| 2017 | Still the King | Gene | Recurring role; 4 episodes |
| 2018 | Speechless | Stuart | Episode: "L-O-N--LONDON: Part 1" |
| 2020 | Homeland | Young Saul Berenson | Episode: "The English Teacher" |
| Love, Lights, Hanukkah! | David | Television film |
| 2022 | Girl in the Shed: The Kidnapping of Abby Hernandez | Nathaniel Kibby |