| Year | Title | Role | Notes |
| 1971 | Sarge | Deloy Coopersmith | Episode: "The Combatants" |
| 1972 | Young Dr. Kildare | Ted Thatcher | Episode: "House Call" |
| The Bold Ones: The New Doctors | Ev Howard | Episode: "Endtheme" |
| 1973 | Kung Fu | Nashebo | Episode: "The Spirit-Helper" |
| 1974 | The Rookies | Al Devering | Episode: "The Teacher" |
| 1976 | The Streets of San Francisco | Officer Larry Wilson | Episode: "Hot Dog" |
| Barnaby Jones | Wayne Lockwood | Episode: "Renegade's Child" |
| Law of the Land | Quirt | Television film |
| 1977 | The City | Sergeant Brian Scott | Pilot |
| Cover Girls | Johnny Wilson | Television film |
| Nashville 99 | Mike Watling | Episode: "Sing Me a Song to Die By" |
| Eight Is Enough | Doug | Episode: "Trial Marriage" |
| Big Hawaii | Gandy | Episode: "Gandy" |
| Police Story | Lee Morgan | Episode: "Trigger Point" |
| 1978 | What Really Happened to the Class of '65? | Edgar | Episode: "Class Crusader" |
| The American Girls | Everett Simms | Episode: "A Crash Course in Survival" |
| Pressure Point | Unknown | Television film |
| Ski Lift to Death | Mike Sloan |
| The Two-Five | Charlie Morgan |
| Katie: Portrait of a Centerfold | Gunther |
| First, You Cry | Daniel Easton |
| 1979 | Amateur Night at the Dixie Bar and Grill | Cowboy |
| The Rebels | Judson Fletcher | 2 episodes |
| 1980 | Beulah Land | Bonard Davis | Episode: "Part I" |
| Revenge of the Stepford Wives | Officer Andy Brady | Television film |
| From Here to Eternity | Private Jefferson 'Jeff' Davis Prewitt | 13 episodes |
| 1981 | Elvis and the Beauty Queen | Elvis Presley | Television film |
| The Two Lives of Carol Letner | Bob Howard |
| 1982 | Matt Houston | Terry Spence | Episode: "The Woman in White" |
| 1983 | Six Pack | Brewster Baker | Pilot |
| 1984–1989 | Miami Vice | Detective James "Sonny" Crockett | Main role (111 episodes) |
| 1985 | Tales of the Unexpected | Reeve Baker | Episode: "People Don't Do Such Things" |
| The Long Hot Summer | Ben Quick | Television film |
| 1988, 2015 | Saturday Night Live | Himself | 2 episodes |
| 1990 | Seriously...Phil Collins | Television film |
| 1995 | In Pursuit of Honor | Sergeant John Libbey |
| 1996–2001 | Nash Bridges | Inspector / Captain Nash Bridges | Main role (122 episodes); also executive producer |
| 2003 | Word of Honor | Lieutenant Benjamin Tyson | Television film; also co-executive producer |
| 2005–2006 | Just Legal | Grant H. Cooper | Main role (8 episodes) |
| 2010 | American Dad! | Mr. McCormick | Voice; episode: "Don't Look a Smith Horse in the Mouth" |
| Southern Discomfort | Unknown | Pilot |
| 2010–2011 | Glenn Martin, DDS | Grandpa Whitey | Voice (4 episodes) |
| 2010–2012 | Eastbound & Down | Eduardo Sanchez Powers | 5 episodes |
| 2011 | A Mann's World | Allan Mann | Pilot |
| 2014–2015 | From Dusk till Dawn: The Series | Sheriff Earl McGraw | 5 episodes |
| 2015 | Blood & Oil | 'Hap' Briggs | 10 episodes |
| 2016 | TripTank | Johnny Bahama | Voice; episode: "The Director" |
| 2017 | A Series of Unfortunate Events | Sir | 2 episodes |
| Sick Note | Kenny West | 6 episodes |
