| Year | Title | Role | Notes | Ref |
| 1955-1961 | The Red Skelton Show | Snorkel | | |
| 1959-1961 | The Rebel | Theodore (1959), Pooch (1961) | Appeared in "Panic" (1959) and "Two Weeks" (1961) | |
| 1961 | The Dick Van Dyke Show | Restaurant delivery boy | Season 1, episodes 4, 5, 8, 11, and 12 | |
| 1962-1964 | Hazel | Counterman (1962), Antonio (1964) | Episodes "Barney Hatfield, Where Are You?" and "Let's Get Away from It All" | |
| 1963 | The Danny Kaye Show | Hans, Court Reporter, Player | | |
| 1965 | Burke's Law | Zava, Lineman, Clinic Informant | Season 3, episode 15: "A Very Important Russian Is Missing" | |
| 1965-1968 | Gomer Pyle, U.S.M.C. | USMC Sergeant (1966), Special effects man (1968) | Episodes "Gomer Pyle POW" and "A Star is Not Born" | |
| 1965-1966 | My Favorite Martian | Hospital orderly (1965), jewel thief (1966) | Episodes "Virus M for Martian" and "The Avenue C Mob" | |
| 1966 | The Lucy Show | | Episode "Lucy, the Rain Goddess" | |
| I Dream of Jeannie | Achmed | Episode "Get Me to Mecca on Time" | |
| F Troop | Lackey (uncredited), Standup Bull | Season 1, episodes "Our Hero. What's His Name?" and "Too Many Cooks Spoil the Troop" | |
| The Andy Griffith Show | Gracos | Season 6, episode 23 | |
| 1967 | Death Valley Days | Dick Gird | Season 15, episode 15: "Silver Tombstone" | |
| 1967-1968 | Garrison's Gorillas | Pablo (1967), Tony Marcello (1968) | |
| 1968 | Get Smart | Musician | Season 4, episode 1: "The Impossible Mission | |
| 1969 | The Flying Nun | Police officer | Episode "Cast Your Bread Upon the Waters" | |
| Family Affair | Hippie | Season 3, Episode 27: "Flower Power" | |
| 1971 | The Chicago Teddy Bears | Duke, Lefty | 11 episodes | |
| 1972-1973 | Emergency! | Alan Austen | Season 2, episodes "Helpful" and "Boot" | |
| 1972-1983 | M*A*S*H | Maxwell Klinger | 216 episodes | |
| 1973 | Inch High, Private Eye | Voices | 13 episodes | |
| 1974-1978, 1982-1984 | Tattletales | Himself with wife Joy | 30 episodes |
| 1975 | Barnaby Jones | Marty Paris | Season 3, episode 20: "Doomed Alibi" | |
| Kolchak: The Night Stalker | Jack Burton | Season 1, episode 13 | |
| 1977-1979 | Battle of the Network Stars | Himself | | |
| 1977-1984 | Circus of the Stars | |
| 1978-1983 | The Love Boat | Seymour (1978), Inspector Akhmed Sadu (1982), Art Fuller (1983) | Episode in seasons 1, 6, and 7 | |
| 1981 | The Fall Guy | Himself | Season 1, episode 7: "Japanese Connection" | |
| 1983-1985 | AfterMASH | Maxwell Klinger | M*A*S*H spinoff; 30 episodes | |
| 1987 | Wordplay | Himself | Guest host | |
| 1988 | Murder She Wrote | Theo Wexler | Season 5, Episode 2: "A Little Night Work" | |
| 1998 | Diagnosis: Murder | | Season 5, episode 15: "Drill for Death" | |
| 2002-2003 | That '70s Show | | Two episodes | |
| 2007 | Family Guy | Himself | Episode "Believe It or Not, Joe's Walking on Air" | |
| 2016 | Bella and the Bulldogs | Ernie | Episode "Bad Grandma" | |
| 2018-2019 | The Cool Kids | Dudley | 6 episodes | |
