| Year | Title | Role | Notes |
| 1964 | The Famous Adventures of Mr. Magoo | Additional voices | |
| 1968 | Garrison's Gorillas | Provost Marshal | Episode: "The Death Sentence" |
| 1968–1969 | The Batman/Superman Hour | Robin / Dick Grayson (voice) | 17 episodes |
| 1969–1970 | Hot Wheels | Tank Mallory / Dexter Carter (voices) | 5 episodes |
| 1969–1971 | Cattanooga Cats | Groove, the drummer (voice) | 17 episodes |
| 1969–1970 | Scooby-Doo, Where Are You! | Shaggy Rogers (voice) | 25 episodes |
| 1970 | Skyhawks | Steve Wilson, Joe Conway (voices) | Episode: "Devlin's Dilemma" |
| 1970–1971 | Josie and the Pussycats | Alexander Cabot III (voice) | 16 episodes |
| 1970–1992 | Sesame Street | Blue Man in 'Q for Quarter' Cartoon / Fly (voices) | 17 episodes |
| 1971 | Here Comes Peter Cottontail | Peter Cottontail (voice) | Stop-motion Easter special for Rankin-Bass |
| 1972 | Wait Till Your Father Gets Home | George (voice) | Episode: "The Neighbors" |
| 1972–1973 | The New Scooby-Doo Movies | Shaggy Rogers, Robin, Alexander Cabot III, Ghost of Injun Joe (voices) | 24 episodes |
| 1972 | Josie and the Pussycats in Outer Space | Alexander Cabot III (voice) | 16 episodes |
| 1973 | The Bear Who Slept Through Christmas | Narrator (voice) | Animated Christmas TV special |
| 1973–1985 | Super Friends | Robin / Dick Grayson (voices) | 109 episodes |
| 1974 | The Dean Martin Celebrity Roast | Adolf Hitler | Episode: "The Roast of Don Rickles" |
| Hong Kong Phooey | Car Stealer, Clown (voices) | 2 episodes |
| Hawaii Five-O | Swift, Freddie Dryden | 5 episodes |
| Emergency +4 | Additional voices | 12 episodes |
| Ironside | Lab Technician, Jim Crutcher | 2 episodes |
| The City That Forgot About Christmas | Additional voices | Christmas TV special |
| 1975 | The Night That Panicked America | Mercury Theatre Player | TV movie |
| The Last of the Mohicans | Uncas (voice) |
| 1976–1977 | Dynomutt, Dog Wonder | Fishface / Swamp Rat / Shaggy Rogers (voices) | 5 episodes |
| 1976–1978 | The Scooby-Doo Show | Shaggy Rogers (voice) | 40 episodes |
| 1976 | Freedom Is | Additional voices | TV movie |
| 1977 | Police Story | Sobhe | Episode: "Trial Board" |
| Quincy, M.E. | Sy Wallace | Episode: "An Unfriendly Radiance" |
| The Hardy Boys/Nancy Drew Mysteries | Paul Hamilton | Episode: "The Mystery of the Hollywood Phantom" (Parts 1 & 2) |
| Switch | Tony Brock | Episode: "Fade Out" |
| 1977–1978 | What's New, Mr. Magoo? | Waldo (voice) | 10 episodes |
| 1977–1979 | Scooby's All-Star Laff-A-Lympics | Shaggy Rogers / Mr. Creeply (voices) | 24 episodes |
| 1977 | Soap | Narrator (voice) | Unaired pilot (Kasem left the show before it aired. Narration for the pilot was rerecorded by Rod Roddy before airing.) |
| Wonderbug | Roscoe | Episode: "The Big Game" |
| 1978 | Charlie's Angels | Tom Rogers | Episode: "Winning Is for Losers" |
| Yogi's Space Race | Additional voices | 7 episodes |
| Jana of the Jungle | 13 episodes |
| 1978–1985 | Battle of the Planets | Mark (voice) | 85 episodes; American dubbed adaptation of anime series Science Ninja Team Gatchaman (in which the character was originally called "Ken the Eagle") |
| 1979 | The Flintstones Meet Rockula and Frankenstone | Monty Marble (voice) | Animated Halloween TV special |
| 1979–1980 | Scooby-Doo and Scrappy-Doo | Shaggy Rogers (voice) | 16 episodes |
| 1980–1982 | Scooby-Doo and Scrappy-Doo (1980 TV series) | 33 episodes |
| The Richie Rich/Scooby-Doo Show | 21 episodes |
| 1982 | The Scooby & Scrappy-Doo/Puppy Hour | 13 episodes |
| The Gary Coleman Show | Additional voices | 2 episodes [citation needed] |
| 1983 | The New Scooby and Scrappy-Doo Show | Shaggy Rogers / Mr. Rogers / Mrs. Rogers (voices) | 13 episodes |
| Matt Houston | Master of Ceremonies | Episode: "Target: Miss World" |
| 1984 | The New Scooby-Doo Mysteries | Shaggy Rogers, Grandpa Rogers (voices) | 13 episodes |
| 1984–1985 | Scary Scooby Funnies | Shaggy Rogers (voice) | 20 episodes |
| 1984–1986 | The Transformers | Cliffjumper / Bluestreak / Teletraan I / Dr. Arkeville (voices) | 60 episodes |
