| Year | Title | Role | Notes |
| 1984 | ABC Afterschool Special | Miguel Rados | Episode: "The Great Love Experiment" |
| 1985 | The Equalizer | Officer Miguel Canterra | Episode: "Lady Cop" |
| Fame | George | Episode: "Savage Streets" |
| Miami Vice | Pete Romano | Episode: "The Home Invaders" |
| 1986 | On Wings of Eagles | Rashid | Episode: "Part I & II" |
| 1987 | Miami Vice | Felipe Cruz | Episode: "God's Work" |
| 1989 | The Twilight Zone | Jesse Cardiff | Episode: "A Game of Pool" |
| 1991–92 | The Legend of Prince Valiant | Various Roles (voice) | Recurring cast (season 1) |
| 1992 | Bay City Story | Jim Duran | TV movie |
| 1994 | Tales from the Crypt | 'Puck' | Episode: "The Bribe" |
| The Burning Season | Jair | TV movie |
| 1995 | Deadlocked: Escape from Zone 14 | Tony Archer | TV movie |
| 1996 | Dying to Be Perfect: The Ellen Hart Pena Story | Federico Peña | TV movie |
| 1997 | The Outer Limits | Frank Kelton | Episode: "Heart's Desire" |
| The Hunger | Tony | Episode: "I'm Dangerous Tonight" |
| 1998 | Adventures from the Book of Virtues | Guillermo (voice) | Episode: "Charity" |
| Circle of Deceit | Jeff Silva | TV movie |
| 1999 | Doctors | Vince Duralde | Episode: "The Life Lost in Living" |
| Atomic Train | Noris MacKenzie | Episode: "Part I & II" |
| 2000 | A Family in Crisis: The Elian Gonzales Story | Juan Miguel Gonzalez | TV movie |
| Family Law | Mr. Santiago | Episode: "Telling Lies, Conclusion" |
| 2000–02 | Resurrection Blvd. | Paco Corrales | Recurring cast (season 1-2), guest (season 3) |
| 2001–04 | NYPD Blue | Lieutenant Tony Rodriguez | Main cast (season 8-11) |
| 2002 | American Family | Esteban Gonzalez | Recurring cast (season 1) |
| George Lopez | Manny Lopez | Episode: "Who's Your Daddy?" |
| 2002–03 | Dora the Explorer | Papi (voice) | Recurring cast (season 2) |
| 2005 | Heartless | Rick Benes/David Lopez | TV movie |
| Freddie | Carlos | Episode: "The Courtship of Freddie's Father" |
| 2006 | Vanished | Michael Tyner | Recurring cast |
| 2007 | 24: Day 6 Debrief | Agent Jorge Ramirez | Recurring cast (season 6) |
| Burn Notice | Ernie Paseo | Episode: "Broken Rules" |
| 2008 | Jericho | Major Edward Beck | Recurring cast (season 2) |
| 2009–10 | Caprica | Joseph Adama | Main cast |
| 2010 | CSI: Miami | Stephen Madsen | Episode: "All Fall Down" |
| 2011 | Los Americans | Leandro 'Lee' Valenzuela | Main cast |
| We Have Your Husband | Eduardo Valseca | TV movie |
| 2011–12 | Fairly Legal | District Attorney Aaron Davidson | Guest (season 1), recurring cast (season 2) |
| 2012 | Seattle Superstorm | Tom | TV movie |
| Law & Order: Special Victims Unit | Jimmy Vasquez | Episode: "Home Invasions" |
| 2013 | Magic City | Carlos "El Tiburon" Ruiz | Recurring cast (season 2) |
| Major Crimes | Deputy Diaz | Episode: "Jailbait" |
| Teachers | Manny | TV movie |
| 2013–15 | Criminal Minds | Section Chief Mateo 'Matt' Cruz | Guest (season 9), recurring cast (season 10) |
| 2014 | Cleaners | Father Brooks | Recurring cast (season 2) |
| 2015 | The Brink | President Julian Navarro | Main cast |
| From Dusk till Dawn: The Series | Lord Amancio Malvado | Main cast (season 2) |
| Mozart in the Jungle | Juan Delgado | Recurring cast (season 2) |
| 2015–16 | Blue Bloods | Sergeant Trey Delgado | Guest cast (season 6-7) |
| 2016 | Casa Vita | Rodrigo Vita | TV movie |
