| Year | Title | Role | Notes |
| 1977 | McNamara's Band | Frankie Milano | Television film |
| 1978 | Free Country | Louis Peschi | 3 episodes |
| 1979 | From Here to Eternity | Private Angelo Maggio | 3 episodes |
| 1980 | Alcatraz: The Whole Shocking Story | Ray Neal | Television film |
| 1981–1984 | Hart to Hart | Frank Tisdale / Nate Volkman | 2 episodes |
| 1981 | M*A*S*H | Corporal Gerald Mullen / Josh Levin | Episode: "Identity Crisis" |
| 1982 | Chicago Story | Cooney | Episode: "Who Needs the Truth?" |
| 1983 | Hardcastle and McCormick | Teddy Hollins | Episode: "The Crystal Duck" |
| 1984 | Mister Roberts | Insignia | Television film |
| Hill Street Blues | Sonny Orsini | 2 episodes |
| Trapper John, M.D. | Michael Merrow | Episode: "Where There's a Will" |
| Simon & Simon | Carl | Episode: "Who Killed the Sixties?" |
| 1985 | Robert Kennedy & His Times | Roy Cohn | Episode |
| 1986 | Amazing Stories | Joe | Episode: "One for the Road" |
| Law | Rob Cavanaugh | Episode: "Pilot" |
| 1987 | Destination America | Lieutenant Mike Amico | Television film |
| 1987 | Beverly Hills Buntz | Jimmy Montaigne | Episode: "Pilot" |
| 1988 | Rock 'n' Roll Mom | Ronnie | Television film |
| 1989 | Nightbreaker | Sergeant Jack Russell |
| The Hitchhiker | Brother Charles | Episode: "Miracle of Alice Ames" |
| Tales from the Crypt | Ulrich The Undying | Episode: "Dig That cat...He's real gone" |
| 1990 | El Diablo | Truman "Kid Durango" Feathers | Television film |
| 1990–1991 | The Fanelli Boys | Dominic Fanelli | 19 episodes |
| 1991 | One Special Victory | Daniel | Television film |
| 1992 | Through the Eyes of a Killer | Jerry |
| Highlander: The Series | Dr. Wilder | Episode: "Deadly Medicine" |
| 1994 | Dangerous Heart | Barclay | Television film |
| Beethoven | Sparky (voice) | 12 episodes |
| 1995 | The Marshal | Cameris | Episode: "Unprotected Witness" |
| NYPD Blue | Vinnie Greco | 3 episodes |
| 1996 | Ed McBain's 87th Precinct: Ice | Detective Meyer Meyer | Television film |
| Life with Louie | Jojo Stomopolous (voice) | Episode: "Caddy on a Hot Tin Roof" |
| Arliss | Vic Freed | Episode: "The Client's Best Interest" |
| 1996–1997 | EZ Streets | Jimmy Murtha | 12 episodes |
| 1998–2000 | Godzilla: The Series | Victor "Animal" Palotti (voice) | 8 episodes |
| 1998 | Hercules | King Pan (voice) | Episode: "Hercules and the King for a Day" |
| The Lionhearts | Director (voice) | 5 episodes |
| 1999 | Sugar Hill | Joe | Pilot |
| The Outer Limits | Stan Harbinger | Episode: "Alien Radio" |
| Olive, the Other Reindeer | Martini (voice) | Television special |
| 2001–2004 | The Sopranos | Ralph Cifaretto | 21 episodes |
| 2001 | Roswell | Kal Langley | 2 episodes |
| 2002 | The Nick Cannon Show | Himself |
| 2003–2004 | The Handler | Joe Renato | 16 episodes |
| 2003 | Gary the Rat | Anthony "The Heel" Stilletto (voice) | Episode: "Sleeps with the Fishes" |
| 2004 | Dr. Vegas | Tommy Danko | 7 episodes |
| 2006 | Deceit | Anthony | Television film |
| Waterfront | Jimmy Centrella | Unreleased series |
| The Simpsons | Dante (voice) | Episode: "The Mook, the Chef, the Wife and Her Homer" |
