| Year | Title | Role | Notes | Reference(s) |
| 1977 | Man from Atlantis | Minion | Episode: "The Disappearances" | |
| 1978 | King | Jack Corbin | Main Cast |
| Fantasy Island | Jamu | Episode: "Family Reunion/VooDoo" |
| Winners | Ted | Episode: "Journey Together" | |
| Baa Baa Black Sheep | George 'King George' | Episode: "A Little Bit of England" | |
| 1979 | The Incredible Hulk | Lee | Episode: "Like a Brother" | |
| Roots: The Next Generations | Muslim at Door | Episode: "Part VII (1960-1967)" |
| The White Shadow | Johnson | Episode: "Little Orphan Abner" |
| Detective School | Bombacaa | Episode: "Nick Is Smitten" |
| One Day at a Time | Desk Sergeant | Episode: "A Little Larceny" |
| Highcliffe Manor | Smythe | Main Cast |
| 1980 | Skag | — | Episode: "Pilot" |
| Too Close for Comfort | Sam Morton | Episode: "The Bag Lady" |
| 1981 | Diff'rent Strokes | Kwame | Episode: "Almost American" |
| Little House on the Prairie | William Thomas | Episode: "Chicago" |
| Bosom Buddies | Rochelle | Episode: "One for You, One for Me" |
| Taxi | Terry Carver | Episode: "Of Mice and Tony" |
| 1982 | The Dukes of Hazzard | Avery | Episode: "Dear Diary" |
| Flamingo Road | Chandler | Recurring cast (Season 2); 4 episodes |
| The New Odd Couple | Moses Brown | Episode: "That Was No Lady" |
| 1983 | Webster | Rudy | Episode: "Happy Un-Birthday" |
| The A-Team | Cal Freeman | Episode: "The Taxicab Wars" |
| 1984 | St. Elsewhere | Jerry Close | Recurring cast (Season 3); 6 episodes |
| 1985 | The Super Powers Team: Galactic Guardians | Victor Stone/Cyborg | Main cast (Season 9); 8 episodes; voice | |
| 1986 | The Last Precinct | Sergeant "Night Train" Lane | Main cast; 8 episodes | |
| It's a Living | Dougie | Episode: "The Bar" |
| Mickey Spillane's Mike Hammer | Digger Love | Episode: "Harlem Nocturne" |
| 1987 | Gimme a Break! | Prince | Episode: "Someday My Prince..." |
| Full House | Reggie 'The Sandman' Martin | Episode: "Knock Yourself Out" |
| Pound Puppies | Additional Voices | Recurring cast (Season 2); 3 episodes |
| 1989 | The Super Mario Bros. Super Show! | Himself | Episode: "Slime Busters" |
| 1990 | An Evening at the Improv | Himself/Host | Episode: "Episode " |
| Cop Rock | Commander Warren Osborne | Episode: "Pilot" |
| 1990–1991 | Broken Badges | Toby Baker | Main Cast; 7 episodes |
| 1992 | Angel Street | Thurman Nickens | Episode: "Pilot - Part 1 & 2" |
| The Ben Stiller Show | Tennis Captain | Episode: "With Bobcat Goldthwait" |
| Batman: The Animated Series | Security Guard | Episode: "Joker's Wild"; voice | |
| 1993 | TriBeCa | Howard | Episode: "Heros Exoletus" | |
| Wild Palms | Tommy Lazlo | Main Cast; 5 episodes |
| Tales from the Crypt | Zambini | Episode: "Food for Thought" |
| 1994 | Lifestories: Families in Crisis | Coach Seldon | Episode: "A Body to Die For: The Aaron Henry Story" | |
| 1997 | Superman: The Animated Series | Professor Felix | Episode: "Action Figures"; voice | |
| 1997–2003 | Oz | Warden Leo Glynn | Main Cast; 55 episodes | |
| 1998 | The Gregory Hines Show | Jack | Episode: "Carpe Diem" |
| Arli$$ | Warden Leo Glynn | Episode: "Fans First" |
| 2000 | Intimate Portrait | Himself | Episode: "Robin Givens" |
| 2001 | Touched by an Angel | Norm McCloud | Episode: "The Perfect Game" |
| 2003 | Without a Trace | Manny Aybar | Episode: "Kam Li" |
| 2003–2004 | 10-8: Officers on Duty | Senior Deputy John Henry Barnes | Main Cast; 15 episodes |
