| Year | Title | Role | Notes |
| 1999 | Early Edition | Teddy, Rehearsal Dinner Toaster | Episode: "The Out-of-Towner" |
| 2002 | Late Night with Conan O'Brien | Wally Jenson (uncredited) | Episode |
| 2005 | Weekends at the D.L. | Soldier | Episode |
| 2005–2006 | Arrested Development | Country Club Waiter | 2 episodes |
| 2006 | The Colbert Report | Kevin (voice) | Episode: "Will Power" |
| 2006–2013, 2020 | 30 Rock | Kenneth Parcell | 139 episodes |
| 2007 | My Boys | Paul | Episode: "The Promise of a New Season" |
| 2009 | The Electric Company | Marlon | Episode: "Abracadabra Cadabra Ca-Green!" |
| 2009–2015, 2025 | Phineas and Ferb | Irving (voice) | 39 episodes |
| 2010 | Tim and Eric Awesome Show, Great Job! | Best Man | Episode: "Comedy" |
| 2010 | Ugly Americans | Kong (voice) | Episode: "Kong of Queens" |
| 2010 | Robotomy | Frenemy (voice) | Episode: "Frenemy" |
| 2010 | Kung Fu Panda Holiday | Wo Hop (voice) | Television special |
| 2011–2020 | Bob's Burgers | Various voices | 6 episodes |
| 2011 | The Simpsons | Ewell Freestone "Peach Guy" (voice) | Episode: "The Great Simpsina" |
| 2011 | Conan | Ghost, Drug Dealer, Conan | 3 episodes |
| 2011 | Portlandia | Zupan's Market Customer | Episode: "Cool Wedding" |
| 2011 | Funny or Die Presents | Park Ranger | Episode |
| 2011 | Archer | Randy (voice) | Episode: "Bloody Ferlin" |
| 2013–2016 | Wander Over Yonder | Wander (voice) | 79 episodes |
| 2013 | Deon Cole's Black Box | White History Month Narrator | Episode: "Sweet Home Chicago" |
| 2013 | NTSF:SD:SUV:: | Tagg | Episode: "Trading Faces" |
| 2013–2015 | Comedy Bang! Bang! | Chad, Band Camp Register | 2 episodes |
| 2013 | Key & Peele | Robert | Episode: |
| 2013–2018 | The Middle | Dr. Ted Goodwin | 9 episodes |
| 2013–2019 | Drunk History | Various roles | 10 episodes |
| 2013 | Childrens Hospital | Ballard | Episode: "Coming and Going" |
| 2014–2015 | Jake and the Never Land Pirates | Pirate Mummy (voice) | 7 episodes |
| 2014 | WordGirl | Kid Math / Rexagon (voice) | Episode: "Kid Math" |
| The Getaway | Himself | Episode: "Jack McBrayer in Hawaii" |
| 2015 | Axe Cop | Mr. Chicken Chickenslice (voice) | Episode: "Axe Cop Saves God" |
| 2015 | New Girl | Wally | Episode: "Clean Break" |
| 2015 | The Jack and Triumph Show | Jack | 7 episodes; also executive producer |
| 2015 | Your Pretty Face is Going to Hell | Angel | Episode: "Shoulder Work" |
| 2015 | Playing House | Rod Rockemoore | 2 episodes |
| 2015 | The Awesomes | Villain-Tine (voice) | Episode: "Villain-Tine's Day" |
| 2015 | The Adventures of Puss in Boots | Esteban (voice) | Episode: "Star" |
| 2015, 2017, 2021 | Last Week Tonight with John Oliver | Himself/Dr. Ted Group III/Oliver's Plague (voice) | 4 episodes |
| 2016 | The Increasingly Poor Decisions of Todd Margaret | Doug Whitney | 6 episodes |
| 2016 | The Amazing Gayl Pile | Mitch Maxwell | Episode |
| 2016 | Odd Squad: The Movie | Weird Tom | Television film with limited theatrical release |
| 2016 | The Big Bang Theory | Randall (Penny's Brother) | Episode: "The Conjugal Conjecture" |
| 2016 | The Lion Guard | Badilli (voice) | Episode: "The Trouble With Galagos" |
| 2016 | Emo Dad | Principal Meister (voice) | Season 2 |
| 2016 | The Eric Andre Show | Himself | Episode: "Stacey Dash; Jack McBrayer" |
| 2016 | Bajillion Dollar Propertie$ | Phillib Almnall | Episode: "Day of the Diamond Dealmakers" |
| 2016, 2017 | Mighty Magiswords | Snax, Orb-Bot, Matt (voice) | 2 episodes |
| 2017 | Angie Tribeca | Wade | Episode: "License to Drill" |
| 2017–2018 | Big Mouth | Pubic Hair (voice) | 4 episodes |
