| Year | Title | Role | Notes |
| 1992 | The New WKRP in Cincinnati | Razor Dee | Recurring role (season 2) |
| 1994 | The Larry Sanders Show | Intern | Episode: "Would You Do Me a Favor?" |
| Seinfeld | Manager | Episode: "The Opposite" |
| 1996–2001 | 3rd Rock from the Sun | Harry Solomon | Main role, 139 episodes |
| 1997 | NewsRadio | Brent | Episode: "Mistake" |
| Caroline in the City | Stu | Episode: "Caroline and the Long Shot" |
| 1998–1999 | Hercules | Icarus | Voice, main role |
| 1998 | Just Shoot Me! | Steven | Episode: "Puppetmaster" |
| 2000 | CinderElmo | Human form of Prince the Dog | |
| Charmed | Genie | Episode: "Be Careful What You Witch For" |
| 2000–2001 | Buzz Lightyear of Star Command | Rentwhistle Swack | Voice, 3 episodes |
| 2000–2011 | God, the Devil, and Bob | Bob Alman | Voice, 13 episodes |
| 2001 | That '70s Show | Daniel | 1 episode |
| 2002 | Ally McBeal | Michael Walker | Episode: "Blowin' in the Wind" |
| Becker | Jim Reynolds | Episode: "Papa Does Preach" |
| 2003–2005 | Less Than Perfect | Gene Schmidtline | 3 episodes |
| 2004 | The Drew Carey Show | Buddy | 1 episode |
| Wedding Daze | Nathan Bennett IV | Television film |
| CSI: Crime Scene Investigation | Alien Pastor | Episode: "Viva Las Vegas" |
| 2005 | The New Partridge Family | Reuben Kincaid | Pilot |
| The Entertainment Weekly Guide: Guilty Pleasures | Host | |
| 2006 | Misconceptions | Stewart / Horace | 7 episodes |
| Pepper Dennis | Dr. Crimmons | Episode: "Frat Boys May Lose Their Manhood" |
| 2007 | Two Dreadful Children | | |
| Subs | Principal Delahey | Unsold television pilot |
| Pandemic | Dr. Carl Ratner | |
| Bones | Isaac Horn | Episode: "The Girl in the Gator" |
| The Closer | Gary Evans | 3 episodes |
| 2008 | Phineas and Ferb | Gaston Le Mode | Voice, episode: "Run Away Runway" |
| Pushing Daisies | Woolsey Nicholls | Episode: "Bzzzzzzzzz!" |
| Happy Campers | | |
| Cavemen | Mr. Busby | Episode: "Caveman Holiday" |
| 2009 | Imagination Movers | Teacher | Episode: "Nina Gets the Giggles" |
| 2010 | The Horrible Terrible Misadventures of David Atkins | David Atkins | 5 episodes |
| Castle | Zach Robinson | Episode: "The Late Shaft" |
| Zeke and Luther | Garm Garoosh | Episode: "Luther Waffles and the Skateboard of Doom" |
| True Jackson, VP | Donald the Delightful | Episode: "True Kiss" |
| Private Practice | Kevin Mason | Episode: "Take Two" |
| Days of Our Lives | Keith | 2 episodes |
| 2010, 2012 | The Penguins of Madagascar | Cecil | Voice, 2 episodes |
| 2011 | Stargate Universe | Dr. Andrew Covel | Episode: "Alliances" |
| Pound Puppies | Zoltron | Voice, episode: "Zoltron" |
| Allen Gregory | Richard De Longpre | Voice |
| 2012 | Community | Vinnie, a French Stewart impersonator | Episode: "Contemporary Impressionists" |
| Psych | Whip Chatterly | Episode: "Autopsy Turvy" |
| Rise of the Zombies | Dr. Arnold | 1 episode |
| 2013–2015, 2017 | The Middle | Principal Cameron | 4 episodes |
| 2013–2016, 2018–20 | Mom | Chef Rudy | Main role (seasons 1–2); recurring role (seasons 6–7); guest (seasons 3, 5, 8); 30 episodes |
| 2013 | The Birthday Boys | Himself | Episode: "Goofy Roofers" |