| Year | Title | Role | Notes |
| 1987 | The Room Upstairs | Carl | Television film |
| 1988 | The Equalizer | Bobby | Episode: "The Child Broker" |
| Ollie Hopnoodle's Haven of Bliss | Ralph Parker | Television film |
| 1988–1991 | My Secret Identity | Andrew Clements | Main role |
| 1989 | Charles in Charge | David Landon | Episode: "The Organization Man" |
| 1992–1993 | Camp Wilder | Brody Wilder | Main role |
| 1995 | The Ranger, the Cook and a Hole in the Sky | Mac | Television film |
| Blue River | Lawrence Sellars | |
| 1995–1999 | Sliders | Quinn Mallory | Main roleProducer (1998–1999)Director: "Stoker", "Slidecage", "Lipschitz Live", "Data World", "Roads Taken"Writer: "Way out West" |
| 1997 | Later | Himself (guest host) | |
| What the Deaf Man Heard | Reverend Perry Ray Pruitt | Hallmark Hall of Fame television film |
| 1999 | The '60s | Brian Herlihy | Television film |
| 2001 | Night Visions | Andy | Episode: "Rest Stop" |
| 2002 | Going to California | Pete Rossock | Episode: "Searching for Eddie Van Halen" |
| Rome Fire | Ryan Wheeler | Television film |
| 2002–2007 | Crossing Jordan | Detective Woody Hoyt | Main role |
| 2003, 2008 | MADtv | Ted Levin, John Edwards | 2 episodes |
| 2004 | Without a Trace | Joe Gibson | Episode: "Hawks and Handsaws" |
| The Screaming Cocktail Hour | Singer | |
| Las Vegas | Detective Woody Hoyt | 5 episodes |
| 2005 | Justice League Unlimited | Captain Marvel | Voice, episode: "Clash" |
| 2007 | On the Lot | Jerry 'The Move' | Episode: "6 Cut to 5 & 5 Directors Compete" |
| Ugly Betty | Joel | Episode: "Derailed" |
| The Batman | Nightwing | Voice, 2 episodes |
| 2007–2008 | Carpoolers | Laird | Main role |
| 2008 | Samantha Who? | Craig | Episode: "The Gallery Show" |
| Do Not Disturb | Neal | Main role |
| 2009 | Midnight Bayou | Declan Fitzpatrick | Television film |
| Eastwick | Colin Friesen | Episode: "Magic Snow and Creepy Gene" |
| 2010–2011 | The Defenders | Pete Kaczmarek | Main role |
| 2011 | Joe: Renegades | Barbecue | Episode: "Fire Fight" |
| Fish Hooks | Sterling Hamsterton | Voice, episode: "Pamela Hamster Returns" |
| NTSF:SD:SUV:: | Mental Man | Episode: "Up Periscope, Down With San Diego" |
| 2013–2015 | Jake and the Never Land Pirates | Pip the Pirate Genie | Voice, 7 episodes |
| 2013 | Burning Love | Henry | Season 2 cast member |
| King & Maxwell | Jerry Walkeiwicz | Episode: "Stealing Secrets" |
| Satisfaction | David | Episode: "Penis Face Cat Funeral" |
| We Are Men | Stuart Strickland | Main role |
| 2014–2019 | Drunk History | Thomas Jefferson, Grigori Rasputin, Ken McElroy | 4 episodes |
| 2014 | The League | Father Muldoon | Episode: "The Heavenly Fouler" |
| 2015 | The Librarians | Young Lancelot | Episode: "And the Loom of Fate" |
| Workaholics | Teddy | Episode: "Gayborhood" |
| Marry Me | Daniel | Episode: "Friend Me" |
| Significant Mother | Bob Babcock | Episode: "Home Is Where the Lamp Is" |
| Fresh Beat Band of Spies | Arizona Jones | Voice, episode: "Mummy Mayhem" |
| 2016 | The Mysteries of Laura | Jon Dunham | 2 episodes |
| 2016–20192022 | Billions | Steven Birch | 10 episodes |
| 2016 | Young & Hungry | Nick Diamond | Episode: "Young & Parents" |
| Gay for Play Game Show Starring RuPaul | Himself | Episode: "Featuring Rebecca Romijn" |
