| Year | Title | Role | Notes |
| 1960 | CBS Workshop | — | Episode: "The Bible Salesman" |
| 1963 | General Hospital | Mouth | Regular cast |
| 1973 | Roll Out | Wheels− | Main cast |
| 1974 | Change at 125th Street | Janitor | Television film |
| 1975–80, 2002, 2015, 2025 | Saturday Night Live | Himself / cast member | Main cast (season 1–5), Brittany Murphy/Nelly, 40th Anniversary Special, 50th Anniversary Special |
| 1978 | ABC Weekend Special | Frank | Episode: "The Seven Wishes of Joanna Peabody" |
| 1980 | Easter Fever | Jack | Voice, television film |
| 1982 | Diff'rent Strokes | Santa Claus / Mr. Jones | Episode: "Santa's Helper" |
| 1983 | The Invisible Woman | Lt. Greg Larkin | Television film |
| 1983–84 | The Jeffersons | Jimmy | Guest (season 9);Recurring cast (season 10) |
| 1984 | At Your Service | Dwayne | Television film |
| Masquerade | Froog | Episode: "The French Correction" |
| The New Scooby Doo Mysteries | Additional voices | Season 2 |
| 1984–85 | It's Your Move | Principal Dwight Ellis | Recurring cast |
| 1985 | Murder, She Wrote | Lafayette Duquesne | Episode: "Murder to a Jazz Beat" |
| Hill Street Blues | Derelict | Recurring cast (season 5) |
| The Twilight Zone | Jake | Episode: "Dealer's Choice" |
| Scarecrow and Mrs. King | Asam Ali Shamba | Episode: "The Wrong Way Home" |
| Pound Puppies | Chief Williams | Voice, television film |
| 1986 | The Love Boat | Gary Samuels | Episode: "The Will / Déjà Vu/ The Prediction" |
| New Love, American Style | — | Episode: "Love and the Teddy" |
| 1986–89 | Hunter | Arnold "Sporty" James | Guest (season 2);Recurring cast (season 3-5) |
| 1987 | 227 | Bob Winslow | Episode: "The Working Game" |
| 1987–89 | Married... with Children | Russ | 2 episodes |
| 1988 | Who's the Boss? | Officer Audette | Episode: "Sam's Car" |
| 1991 | Earth Angel | Joey | Television film |
| 1991–92 | Roc | Wiz | Recurring cast (season 1) |
| 1992 | Maid for Each Other | Harold Brown | Television film |
| 1992–95 | Martin | Stan Winters | Main cast (season 1–2); Guest (season 3) |
| 1993 | Daddy Dearest | Stan | Episode: "American We" |
| 1994 | ER | Edgar Luck | Episode: "ER Confidential" |
| 1995 | The Wayans Bros. | Uncle Leon / Himself | 2 episodes |
| Minor Adjustments | Willie | Episode: "The Ex-Files" |
| Cleghorne! | Sidney Carlson | Main cast |
| 1996–2001 | The Jamie Foxx Show | Uncle Junior King | Main cast |
| 1997 | Happily Ever After: Fairy Tales for Every Child | Buzzard | Voice, episode: "Pinocchio" |
| Boston Common | Sammy Sutherland | Episode: "I.D. Endow" |
| 1998 | Space Ghost Coast to Coast | Himself | Episode: "Cahill" |
| 1999 | G vs E | Kentucky McQuaid | Episode: "Sunday Night Evil" |
| 2000 | City of Angels | Dr. Frank Hollister | Episode: "Prototype" |
| Static Shock | Preacher | Voice, episode: "Child's Play" |
| Little Richard | Carl Rainey | Television film |
| 2001 | Justice League | Al McGee | Voice, episode: "In Blackest Night" Pt. 1 |
| According to Jim | Lewis | Episode: "The Turkey Bowl" |
| The Hughleys | Father Roberts | Episode: "I'm Dreaming of a Slight Christmas" |
| 2003 | Maniac Magee | Mr. Cobble | Television film |
| 2005 | Noah's Arc | Rev. Allen | 2 episodes |
| 2006 | All of Us | Uncle Cyrus | Episode: "Neesee's Grave Plot" |
| Family Guy | Himself | Episode: "Barely Legal" |
