| Year | Title | Role | Notes |
| 1984 | The Jeffersons | Van Van Morris | Episode: "Ebony and Ivory" - 11x02 |
| 1985–86 | Charlie & Co. | Robert Richmond | Main cast |
| 1986 | The Disney Sunday Movie | Jake | Episode: "The Leftovers" |
| 1987 | Mr. Belvedere | Ernie Masters | Episode: "Jobless" |
| Good Morning, Miss Bliss | Bobby Wilson | Episode: Pilot |
| Jay Leno's Comedy Hour | Kid Eating Cake No. 5 | Television special |
| The Little Clowns of Happytown | Rodney | Episode: "I'm Just Like You"; uncredited |
| 1988 | Cadets | Cadet Nicholls | Unsold pilot episode |
| 1989–98 | Family Matters | Steve Urkel, Stefan Urquelle, Myrtle Urkel | Main cast Writer - 2 episodes |
| 1991 | Full House | Steve Urkel | Episode: "Stephanie Gets Framed" |
| Step by Step | Episode: "The Dance" |
| 1992 | The Jaleel White Special | Himself, Steve Urkel | Television special |
| 1993 | Adventures of Sonic the Hedgehog | Sonic the Hedgehog, Masonic the Mummified Hedgehog | Voice, main cast |
| 1993–94 | Sonic the Hedgehog | Sonic the Hedgehog | Voice, main cast |
| 1995 | The Fresh Prince of Bel-Air | Derek | Episode: "Not with My Cousin You Don't" |
| 1996 | Sonic's Christmas Blast | Sonic | Voice, television special |
| 1997 | Step by Step | Crew Member, Steve Urkel | Episode: "A Star is Born"; uncredited |
| Meego | Repossessor, Guy blowing a whistle | 2 episodes |
| Diagnosis: Murder | Himself | Episode: "Must Kill TV" |
| 1999 | Sonic Underground | Sonic the Hedgehog, Sonia the Hedgehog, Manic the Hedgehog, Aman-Rapi | Voice, main cast |
| 1999–00 | Grown Ups | J. Calvin Frazier | Main cast Producer |
| 2000 | Happily Ever After: Fairy Tales for Every Child | Boy Who Cried Wolf | Voice, episode: "Aesop's Fables: A Whodunit Musical" |
| 2003 | 111 Gramercy Park | BJ Brown | Unsold pilot episode |
| 2005 | Half & Half | Hershel | Episode: "The Big State of the Reunion Episode" |
| 2007 | The Game | Chris | Episode: "The Big Chill" |
| Boston Legal | Kevin Givens | Episode: "Guise 'n Dolls" |
| 2009, 12 | Psych | Tony | 2 episodes |
| 2010 | Fake It Till You Make It | Reggie Culkin | Main cast; also executive producer and writer |
| 2011 | The Problem Solverz | K-999 | Voice, 2 episodes |
| Are We There Yet? | Ray Savage | Episode: "The Nick Gets Jealous Episode" |
| House | Porter | Episode: "Twenty Vicodin" |
| Love That Girl! | Director | Episode: "Director's Cut" |
| 2012 | NCIS | Martin Thomas | Episode: "A Desperate Man" |
| 2012–13 | Total Blackout | Host | Main Host |
| 2013 | Regular Show | Cool Shade, Darryl | Voice, episode: "TGI Tuesday" |
| Drop Dead Diva | Bob, Game Show Host | Episode: "Guess Who's Coming?" |
| 2014 | CSI: Crime Scene Investigation | Kenny Greene | Episode: "Keep Calm & Carry On" |
| Celebrities Undercover | Himself | Episode: "Joey Fatone & Jaleel White" |
| 2014–18 | Drunk History | Various | 3 episodes |
| 2015 | Hell's Kitchen | Himself | Episode: "11 Chefs Compete" |
| Hawaii Five-0 | Nolan Fremont | Episode: "Ho'amoano" |
| Castle | Mickey Franks | Episode: "Dead from New York" |
| 2016 | The Edge and Christian Show That Totally Reeks of Awesomeness | Himself | Episode: "The 90's" |
| Celebrity Family Feud | Season 2, Episode 7 |
| Atlanta | Episode: "Nobody Beats the Biebs" |
| Survivor's Remorse | Derek | Episode: "The Photoshoot" |
| 2017 | Bones | Officer Adams | Episode: "The Tutor in the Tussle" |
| 2017–18 | Me, Myself & I | Darryl | Main cast |
| 2018 | Trial & Error | Atticus Ditto Jr. | Recurring cast: Season 2 |