| Year | Title | Role | Notes |
| 1957 | The Adventures of Robin Hood | Horatio | Episode: "Too Many Earls" |
| 1975 | Churchill's People | King Henry II | Episode: "A Sprig of Broom" |
| 1977 | The New Avengers | Mark | Episode: "Dead Men are Dangerous" |
| 1978 | Play for Today | John Fennel | Episode: "Licking Hitler" |
| Columbo | Joe Devlin | Episode: "The Conspirators" |
| Centennial | Finlay Perkin | 3 episodes |
| 1982 | Harts on their Toes | Zabin | 1 episode |
| 1983 | Wizards and Warriors | Wizard Vector | 8 episodes |
| 1984 | George Washington | Lord Loudoun | 3 episodes |
| Snorks | Dr. Galio Seaworthy (voice) | 65 episodes |
| 1985, 1988 | Murder, She Wrote | Jonathan Hawley, Bert Davies | 2 episodes |
| 1984 | Alvin and the Chipmunks | Additional voices | 13 episodes |
| The New Scooby and Scrappy-Doo Show | Additional voices | Episode: "Happy Birthday, Scooby-Doo" |
| Dragon's Lair | Storyteller (voice) | Episode: "Tale of the Enchanted Gift" |
| 1984–1986 | The Transformers | Kickback (voice) | 5 episodes |
| 1986 | The Twilight Zone | Agent | Episode: "Personal Demons" |
| Magnum PI | Walter "Inky" Gilbert | Episode: "I Never Wanted To Go to France, Anyway" |
| Pound Puppies | Dumas, Lord Belveshire (voice) | 2 episodes |
| 1987 | Mighty Mouse: The New Adventures | Additional voices | 6 episodes |
| DuckTales | Shedlock Jones (voice) | Episode: "Dr. Jekyll & Mr. McDuck" |
| The Law & Harry McGraw | Oscar Wendell | Episode: "She's Not Wild About Harry" |
| 1988 | Alfred Hitchcock Presents | Hector | Episode: "Twist" |
| 1989–1990 | Paddington Bear | Additional voices | 2 episodes |
| 1990 | Midnight Patrol: Adventures in the Dream Zone | Potsworth (voice) | 13 episodes |
| Tiny Toon Adventures | William Shakespeare (voice) | Episode: "Weirdest Story Ever Told" |
| 1991 | Star Trek: The Next Generation | Sir Guy of Gisborne | Episode: "Qpid" |
| 1991–1993 | The Legend of Prince Valiant | The Mighty Om (voice) | 3 episodes |
| 1992 | Batman: The Animated Series | Alfred Pennyworth (voice) | 3 episodes; replaced by Efrem Zimbalist Jr. |
| 1993 | The Little Mermaid | Sorcerer Blowfish (voice) | 2 episodes |
| The Sea Wolf | Thomas C. "Cookie" Mugridge | |
| 1994 | Babylon 5 | Trakis | Episode: "Born to the Purple" |
| 1995–1997 | Freakazoid! | Lyle Spanger, Baffeardin, Hermil Sioro (voice) | 3 episodes |
| 1996 | Murphy Brown | Hendricks | Episode: "When a Lansing Loves a Woman" |
| Adventures from the Book of Virtues | King Midas, Minister (voice) | Episode: "Self-Discipline" |
| The Real Adventures of Jonny Quest | Hunter, Trench Harpooner, Medical Officer (voice) | 2 episodes |
| Lois & Clark: The New Adventures of Superman | Sorcerer | Episode: "Soul Mates" |
| 1997 | Step by Step | Professor Robert Nesler | Episode: "Talking Trash" |
| Johnny Bravo | W (voice) | Episode: "Bravo, James Bravo" |
| 1998 | Pinky and the Brain | King Claudius (voice) | Episode: "Melancholy Brain" |
| Godzilla: The Series | Hustus McPhil (voice) | Episode: "DeadLoch" |
| 1999 | Oh Yeah! Cartoons | Herb, New Guy, Security Guy (voice) | Episode: "Herb" |
| 2002 | Fillmore! | Shop Owner (voice) | Episode: "The Currency of Doubt" |
| 2004 | All Grown Up! | Moderator (voice) | Episode: "Susie's Choice" |
| 2011–2012 | Secret Mountain Fort Awesome | Helmet Head, Wise One (voice) | 3 episodes |
