| Year | Title | Role | Notes |
| 1957 | Studio One | Brass | Episode: "A Walk in the Forest" |
| 1958 |
| Norstad | Episode: "Kurishiki Incident" |
| Johnny | Episode: "The Strong Man" |
| Have Gun – Will Travel | Tom Nelson | Episode: "Deliver the Body" |
| The Silent Service | Lieutenant John R. Bertrand | Episode: "The Bowfin Story" |
| 1958–1959 | Naked City | Detective Jimmy Halloran | Main role; 39 episodes |
| 1959 | Tales of Wells Fargo | Joe Braddock | Episode: "The Stage Line" |
| Westinghouse Desilu Playhouse | Clay Darrow | Episode: "Six Guns for Donegan" |
| Whirlybirds | Jerry Lambert / Tom Drake | Episode: "Dead Wrong" |
| The Twilight Zone | Lieutenant Mueller | Episode: "Judgment Night" |
| Father Knows Best | Bill Shappard | Episode: "Bud, the Willing Worker" |
| The Rifleman | Philip Simmons | Episode: "The Legacy" |
| Death Valley Days | Mike Ward | Episode: "Lady of the Press" |
| 1960 | The Millionaire | Tom Doane | Episode: "The Story of Margaret Stoneham" |
| Wagon Train | John Colter | Episode: "The Benjamin Burns Story" |
| Hennesey | Williams | Episode: "The Annapolis Man" |
| Black Saddle | Quinn Jackson | Episode: "The Penalty" |
| Alfred Hitchcock Presents | William Tyre | Season 5 Episode 28: "Forty Detectives Later" |
| Rawhide | Andy Nye | S2:E28, "Incident of the Murder Steer" |
| The Deputy | William Emerson Stanhope / Billy Bart | Episode: "Mother and Son" |
| 1961 | Alfred Hitchcock Presents | Ben Kendall | Season 6 Episode 15: "Summer Shade" |
| The DuPont Show with June Allyson | Tom Grover | Episode: "The Guilty Heart" |
| General Electric Theater | Bill Taylor | Episode: "Love Is a Lion's Roar" |
| The Americans | Lieutenant Hannon | Episode: "The Invaders" |
| The Investigators | Russ Andrews | Main role; 13 episodes |
| 1962 | Ben Casey | John Wickware | Episode: "So Oft It Chances in Particular Men" |
| 1963 | Dr. Kildare | Stan Fisher | Episode: "Jail Ward" |
| The Eleventh Hour | Mike Norris | Episode: "Hang by One Hand" |
| 1963–1965 | Mr. Novak | John Novak | Main role; 60 episodes |
| 1965 | Bob Hope Presents the Chrysler Theatre | Larry Martin | Episode: "Escape into Jeopardy" |
| 1966 | 12 O'Clock High | Captain Tom Carpenter | Episode: "Cross-Hairs on Death" |
| Combat! | Private First Class Charles Harris | Episode: "Decision" |
| 1967 | The F.B.I. | Charles Burnett | Episode: "Force of Nature" |
| 1968 | Judd, for the Defense | Father William Chitwood | Episode: "The Devil's Surrogate" |
| Shadow Over Elveron | Dr. Matthew Tregaskis | Television film |
| The F.B.I. | Mitchell Flynn | Episode: "Out of Control" |
| Heidi | — | Television film; also producer |
| 1969 | Trial Run | Louis Coleman | Television film |
| 1970 | Night Slaves | Clay Howard | Television film |
| Jane Eyre | — | Television film; also producer |
| 1971–1972 | Longstreet | Mike Longstreet | Main role; 24 episodes |
| 1972 | Ghost Story | Paul Dover | Episode: "At the Cradle Foot" |
| 1973 | The 500 Pound Jerk | Gil Davenport | Television film |
| The Red Pony | — | Television film; also producer |
| 1973–1974 | Doc Elliot | Dr. Benjamin Elliot | Main role; 15 episodes |
| 1975 | The Dream Makers | Sammy Stone | Television film |
| The Trial of Chaplain Jensen | Chaplain Andrew Jensen | Television film |
| Insight | The Psychiatrist | Episode: "The Man from Inner Space" |