| Year | Title | Role | Notes |
| 1970 | Medical Center | Mickey Peters | Episode: "A Duel with Doom" |
| NBC Experiment in Television | | Episode: "Moby Tick" |
| 1970–1979 | Insight | William/Greg/Randy King/Andy Fry | 4 episodes |
| 1971 | Owen Marshall, Counselor at Law | Raymond 'Cowboy' Leatherberry | Episode: "A Pattern of Morality" |
| 1972 | Marcus Welby, M.D. | Donald Lorimer | Episode: "Love Is When They Say They Need You" |
| 1973 | Hec Ramsey | Josh Hollister | Episode: "The Mystery of Chalk Hill" |
| Cops | Detective Dennis Till | Television film |
| Love, American Style | | Episode: "Love and the Secret Spouse" |
| Break Up | Himself | Music comedy special for ABC |
| The Affair | Jamie Patterson | Television film |
| 1974 | Love Story | Jeffrey | Episode: "Time for Love" |
| Ma and Pa | | Television film |
| The Lives of Benjamin Franklin | William Franklin - Son | Miniseries |
| 1974–1978 | Police Story | Clyde Griffiths/Victor Joe Vero | Episodes: "Requiem for C.Z. Smith" and "Day of Terror... Night of Fear" |
| 1975 | The Waltons | Bob Hill | Episode: "The Shivaree" |
| The Last Survivors | Michael Larsen | Television film |
| 1976 | Police Woman | Binns | Episode: "Bait" |
| 1977 | ABC Weekend Specials | Bruce - as a Young Man | Episode: "Portrait of Grandpa Doc" |
| The Gathering | George | Television film |
| 1978 | Deadman's Curve | Dean Torrence |
| Summer of My German Soldier | Anton Reiker |
| Mourning Becomes Electra | Orin Mannon | Miniseries |
| 1979 | Mind Over Murder | Jason | Television film |
| The Gathering, Part II | George |
| Lou Grant | Andrew Raines | Episodes: "Andrew: Part 1" and "Andrew: Part 2" |
| 1980 | The Lathe of Heaven | George Orr | Television film |
| 1981 | The Wave | Ben Ross |
| Incident at Crestridge | Clint Larsen |
| 1982 | The Astronauts | Technical Officer David Ackroyd |
| 1983 | Ghost Dancing | Calvin Oberst |
| 1984 | Tales from the Darkside | Richard Hagstrom | Episode: "The Word Processor of the Gods" |
| 1985 | V | John Langley | 3 episodes |
| 1985–1989 | Hunter | Capt. Wyler/Dep. Chief Wyler | 16 episodes |
| 1987 | Murder, She Wrote | David Carroll | Episode: "The Cemetery Vote" |
| 1990 | Designing Women | Reverend Eugene 'Gene' Chapman | Episode: "Have Faith" |
| 1991–1993 | Harry and the Hendersons | George Henderson | 72 episodes |
| 1992 | Desperate Choices: To Save My Child | Richard Robbins | Television film |
| Live! From Death Row | Laurence Dvorak |
| 1993 | A Mother's Revenge | Bill Sanders |
| 1995 | Down, Out & Dangerous | Brad Harrington |
| The Outer Limits | Dr. McEnerney | Episode: "White Light Fever" |
| Cybill | Mark Davis | Episode: "Look Who's Stalking" |
| 1996 | Star Trek: Voyager | Jareth | Episode: "Remember" |
| After Jimmy | Ward "Sam" Stapp | Television film |
| Hidden in America | Dr. Michael Millerton |
| 1996–1997 | Seinfeld | Wyck | 3 episodes |
| 1998 | Touched by an Angel | Jacob 'Jake' Weiss | Episode: "Elijah"Nominated—Primetime Emmy Award for Outstanding Guest Actor in a Drama Series |
| 1999 | Vendetta | Thomas Semmes | Television film |
| 1999–2000 | Chicago Hope | Dr. Burt Peters | 2 episodes |
