| Year | Title | Role | Notes |
| 1979 | Scooby and Scrappy-Doo | Muscles Malone, additional voices | |
| 1981 | An Evening at the Improv | Himself | Season 1, Episode 6 |
| 1984 | Out of Control | Dave, Ha Ha | 20 episodes |
| Detroit Comedy Jam | Himself | Special |
| 1985 | Newhart | | Episode "The prodigal Daryl" |
| The Jetsons | Additional voices | New version of the 1962 TV series |
| 1986–1991 | Muppet Babies | Animal, Bean Bunny, Janice, Bunsen, Statler and Waldorf | Voice, 81 episodes |
| 1987–1995 | Full House | Joey Gladstone Uncle Jasper | Main role Season 6, episode 10 |
| 1987–1991 | The Real Ghostbusters | Peter Venkman | Voice, seasons 3–7 (replaced Lorenzo Music) |
| 1989 | Rude Dog and the Dweebs | Dane | Voice |
| It's Garry Shandling's Show | Garry's Voice Box | Episode: "Garry Acts Like a Moron" |
| Free Spirit | Kevin Wenceslas | Episode: "Blast from the Past" |
| 1990–1994 | America's Funniest People | Himself/host | |
| 1992–1993 | The Little Mermaid | Dudley / Moray the Eel | Voice, 8 episodes |
| 1994 | Burke's Law | Eddie Bartlett | Episode: "Who Killed the Legal Eagle?" |
| 1995 | Freakazoid! | Teenage Boy | Voice, episode: "Freak-a-Panel" |
| Lois & Clark: The New Adventures of Superman | The Real Anonymous | Episode: "Chip Off the Old Clark" |
| The Sylvester & Tweety Mysteries | Captain, PC Voice | Voice, 2 episodes |
| 1996 | Pinky and the Brain | Tom Hanks | Voice, episode: "Brain's Song" |
| World's Funniest Videos | Himself/host | Direct-to-video |
| 1997 | Extreme Ghostbusters | Peter Venkman | Voice, episode: "Back in the Saddle" |
| 1999 | The Thirteenth Year | Whit Griffin | Television film |
| 2002 | The Zeta Project | Delivery Bot | Voice, episode: "Resume Mission" |
| Dexter's Laboratory | Coach | Voice, episode: "Oh, Brother/Another Dad Cartoon/Bar Exam" |
| 2003 | The Even Stevens Movie | Lance LeBow | Television film |
| Teen Titans | Captain | Voice, episode: "Deep Six" |
| America's Most Talented Kid | Himself/host | |
| 2003–2004 | The Surreal Life | Himself | 20 episodes |
| 2004 | Felix the Cat Saves Christmas | Rock Bottom | Voice, television film |
| 2005–2019 | Robot Chicken | Scooby-Doo, Fred Flintstone, Popeye, Bluto, Michelangelo, Barney Rubble, | Voice, 9 episodes |
| 2006 | Skating with Celebrities | Himself | 3 episodes |
| Plastic Man in Puddle Trouble | Archie | Voice, short film |
| 2007 | Shredderman Rules! | Steven Byrd | Television film |
| The GradeSchool Game | Himself/host | |
| The Family Holiday | Donald "Doc" Holiday | Direct-to-DVD |
| 2009–2011 | Bob & Doug | Bob McKenzie | Voice, 15 episodes |
| 2011–2015 | China, IL | Ronald Reagan, additional voices | 4 episodes |
| 2013 | How I Met Your Mother | Himself | Episode: "P.S. I Love You" |
| 2015 | Grandfathered | Therapy Patient | Episode: "My Amal" |
| 2016–2020 | Fuller House | Joey Gladstone | Recurring role; also directed 5 episodes |
| 2016 | Dream Corp, LLC | Himself | Episode: "Pilot" |
| 2017 | Funny You Should Ask | Himself | 2 episodes |
| 2017–2018 | Voltron: Legendary Defender | Bi Boh Bi | Voice, 2 episodes |
| Mighty Magiswords | Galactonian Player , Murray Williams, Average Pumpkin Magisword, Evil Tree | Voice, 3 episodes |
| 2019 | Dollface | Himself | Episode: "Guy's Girl" |
| 2020 | Worst Cooks in America | Himself | Contestant - Celebrity Edition |
| 2022 | Live & Local Pure Flix | Tommy Murphy | DJ - Radio Show Host |