| Year | Title | Role | Notes | Ref. |
| 1955–1956 | The Morning Show | Host | CBS | |
| 1956 | CBS Cartoon Theatre | 13 episodes | |
| 1956–1957 | To Tell the Truth | Panelist | 5 episodes | |
| 1957–1958 | The Phil Silvers Show | Private Lumpkin / Private "Swifty" Bilko | 2 episodes | |
| 1958 | The Chevy Showroom Starring Andy Williams | Himself | | |
| 1958–1959 | Mother's Day | Host | | |
| 1959 | Laugh Line | | |
| 1960 | Alfred Hitchcock Presents | Thomas Craig | Season 5 Episode 23: “Craig’s Will” | |
| New Comedy Showcase | Richard Alexander | Season 1 Episode 4: “The Trouble with Richard” | |
| No Place Like Home | Himself | Special (with Carol Burnett, Rosemary Clooney, and José Ferrer) | |
| 1961–1966 | The Dick Van Dyke Show | Rob Petrie | 158 episodes | |
| 1969 | Dick Van Dyke and the Other Woman | Himself | Special (with Mary Tyler Moore) | |
| 1970 | Dick Van Dyke Meets Bill Cosby | Special (with Bill Cosby) | |
| 1971–1974 | The New Dick Van Dyke Show | Dick Preston | 72 episodes | |
| 1973 | The New Scooby-Doo Movies | Himself | Voice, episode: "The Haunted Carnival" | |
| 1974 | Julie and Dick at Covent Garden | Television special (with Julie Andrews) | |
| Columbo | Paul Galesko | Episode: "Negative Reaction" | |
| The Morning After | Charlie Lester | Television film | |
| 1976 | Van Dyke and Company | Himself | Variety series | |
| Lola! | Cast member | Series | |
| 1977 | The Carol Burnett Show | 11 episodes | |
| 1979 | Supertrain | Waldo Chase | Episode: "And a Cup of Kindness Too" | |
| 1981 | True Life Stories | Charlie | Documentary | |
| Harry's Battles | Harry Fitzsimmons | Unsold half-hour pilot[citation needed] | |
| How to Eat Like a Child | Himself | TV special | |
| 1982 | The Country Girl | Frank Elgin | Television film | |
| Drop-Out Father | Ed McCall | |
| 1983 | CBS Library | Father | Voice, episode: "Wrong Way Kid" | |
| Found Money | Max Sheppard | Television film | |
| 1984 | Donald Duck's 50th Birthday | Himself / Host | TV special | |
| 1985 | American Playhouse | Les Dischinger | Episode: "Breakfast with Les and Bess" | |
| 1986 | Strong Medicine | Sam Hawthorne | Television film | |
| Matlock | Judge Carter Addison | Episode: "The Judge" | |
| 1987 | Ghost of a Chance | Bill Nolan | Television film | |
| Highway to Heaven | Wally Dunn | Episode: "Wally" | |
| Airwolf | Malduke | Episode: "Malduke" | |
| 1988 | The Van Dyke Show | Dick Burgess | 10 episodes | |
| 1989 | The Golden Girls | Ken | Episode: "Love Under the Big Top" | |
| 1990 | Matlock | Judge Carter Addison | Episode: "The Kidnapper" (stock footage from episode "The Judge") | |
| 1991 | Daughters of Privilege | Buddy Keys | Television film | |
| Jake and the Fatman | Dr. Mark Sloan | Episode: "It Never Entered My Mind" (Backdoor pilot for Diagnosis: Murder) | |
| 1992 | Diagnosis of Murder | Diagnosis: Murder film | |
| The House on Sycamore Street | |
| 1993 | The Town Santa Forgot | Narrator / Old Jeremy Creek | Voice, television film | |
| A Twist of the Knife | Dr. Mark Sloan | Diagnosis: Murder film | |
| 1993–2001 | Diagnosis: Murder | Lead role (178 episodes); also executive producer (137 episodes) | |
| 1993 | Coach | Luthor Van Dam's Cousin (uncredited) | Episode: "Christmas of the Van Damned"[citation needed] | |
| 1999 | Becker | Fred Becker | Episode: "Becker the Elder" (episode 13) | |
| 2000 | Sabrina the Teenage Witch | Duke | Episode: "Welcome Back, Duke" | |
