| Year | Title | Role | Notes |
| 1961 | Follow the Sun | Teenager | Episode: "The Highest Wall" |
| Bus Stop | Unknown | Episode: "The Resurrection of Annie Ahearn" |
| 1962 | Margie | Freddie Coates | Episode: "Madame President" |
| 1964–65 | Valentine's Day | Harry / Charles "Charlie" Falwell Jr. | Episodes: "The Seasick Sailor" and "Two Weeks with Pay" |
| 1965 | Voyage to the Bottom of the Sea | Spencer | Episode: "The Saboteur" |
| The Patty Duke Show | Hank | Episode: "Patty Meets the Great Outdoors" |
| Daniel Boone | Member of the Lost Colony, Mark | Episode: "The Lost Colony" |
| 1966–67 | The Monroes | Dalton Wales | 4 episodes |
| Batman | Various | 3 episodes |
| 1969 | The Virginian | Ned Trumbull | Episode: "Crime Wave in Buffalo Springs" |
| 1969–76 | Marcus Welby, M.D. | Steven Kiley | 172 episodes |
| 1972 | Owen Marshall, Counselor at Law | Zack Jamison | Episode: "Shine a Light on Me" |
| 1973 | Trapped | Chuck Brenner | Television movie |
| 1974 | Owen Marshall, Counselor at Law | Steven Kiley | Episode: "I've Promised You a Father, Part 2" |
| 1978 | Steel Cowboy | Clayton Ray Dennis | Television movie |
| 1982 | The Ambush Murders | Paul Marshall |
| Mae West | Jim Timony |
| 1983 | White Water Rebels | Mike McKay |
| Cowboy | Ward McNally |
| 1983–88 | Hotel | Peter McDermott | 115 episodes |
| 1986–87 | Hold the Dream | Ross Nelson | TV mini series |
| 1989 | Finish Line | Martin Shrevelow | Television movie |
| 1990 | Nightmare on the 13th Floor | Alan Lanier |
| The Earth Day Special | Doctor | Television special |
| 1991 | And the Sea Will Tell | Mac Graham | Television movie |
| 1992 | City Boy | Tom McLean |
| 1993 | Gunsmoke: The Long Ride | John Parsley |
| Visions of Murder | Hal |
| 1994 | A Perry Mason Mystery: The Case of the Grimacing Governor | Governor Ryan Allison |
| Parallel Lives | Nick Dimas |
| 1995 | Extreme | Reese Wheeler | 7 episodes |
| 1996 | Hart to Hart: Harts in High Season | Elliot | Television movie |
| 1997 | Roseanne | Edgar Wellman, Jr. | 2 episodes |
| Beyond Belief: Fact or Fiction | Host | 6 episodes |
| 1997–2000 | Pensacola: Wings of Gold | Lt. Colonel Bill Kelly | 66 episodes |
| 1998 | A Marriage of Convenience | Mason Whitney | Television movie |
| 2002 | The West Wing | Governor Robert Ritchie | 2 episodes |
| 2003 | The Reagans | Ronald Reagan | Television movie |
| 2005 | Monk | Daniel Thorn | Episode: "Mr. Monk Goes to Vegas" |
| Widow on the Hill | Hank Cavanaugh | Television movie |
| 2008 | Law & Order: Special Victims Unit | Colonel Richard Finley | Episode: "Lunacy" |
| Lost City Raiders | John Kubiak | Television movie |
| 2009 | Psych | Sheriff Hank Mendel | Episode: "High Noon-ish" |
| 2010 | Blackout | Terrance Danfield | 3 episodes |
| 2013–16 | Castle | Jackson Hunt | 2 episodes |
| 2013 | Community | William Winger | Episode: "Cooperative Escapism in Familial Relations" |
| Christmas with Tucker | Bo McCray | Television movie |
| 2014 | When Calls the Heart | Circuit Judge Jedidiah Black | Episode: "Prelude to a Kiss" |
| 2015–19 | Life in Pieces | John Short | 79 episodes |
