| Year | Title | Role | Notes |
| 1982 | Scamps | Sparky | Television film |
| Diff'rent Strokes | Joey | Episode: "Big Brother" |
| Silver Spoons | Joey Thompson | Episode: "The Best Christmas Ever" |
| 1983 | Little Shots | Pete | Television film |
| Wait till Your Mother Gets Home! | Chris Peters |
| 1983–1987 | Gimme a Break! | Joey Donovan | Main role |
| 1984 | Young People's Specials | Billy | Episode: "Umbrella Jack" |
| 1985 | ABC Afterschool Special | Mattie | Episode: "Don't Touch" |
| 1989 | Adventures in Babysitting | Brad Anderson | Unsold TV pilot |
| 1990–1995 | Blossom | Joey Russo | Main role |
| 1993 | Olsen Twins Mother's Day Special | Singer | TV special |
| Almost Home | Jeff Thornton | Episode: "Girls and Boy" |
| Empty Nest | Wade | Episode: "Aunt Verne Knows Best" |
| 1995 | The John Larroquette Show | Carly's Brother | Episode: "Whipping Post" |
| Something Wilder | Travis | Episode: "Bergman of Alcatraz" |
| Prince for a Day | Ralph Bitondo / Ricky Prince | Television film |
| Wheel of Fortune | Himself | Episode : Celebrity Week |
| 1995–1997 | Brotherly Love | Joe Roman | Main role |
| 1996 | Brothers of the Frontier | Ethan Frye | Television film |
| 1999 | Touched by an Angel | Jesse | Episode: "Fool for Love" |
| Horse Sense | Michael Woods | Television film; also co-producer |
| Recess | Franklin Dudikoff | Voice role; episode: "The Dude" |
| 2001 | Jumping Ship | Michael Woods | Television film |
| 2002 | Romantic Comedy 101 | Mark Gibson |
| The Zeta Project | Dex Finley | Voice role; episode: "Eye of the Storm" |
| 2002–2003 | American Dreams | Michael Brooks | Recurring role |
| 2003–2004 | Run of the House | Kurt Franklin | Main role |
| 2004 | Love Rules! | Michael Warner | Television film |
| 2005 | Bow | Matt |
| Confessions of a Sociopathic Social Climber | Ferguson |
| 2005–2006 | Half & Half | Brett Mahoney | Recurring role |
| 2006 | Android Apocalypse | DeeCee | Television film |
| 2007 | CSI: NY | Clay Dobson | 3 episodes |
| 2007–2008 | The Emperor's New School | Dirk Brock | Voice role |
| 2009 | My Fake Fiancé | Vince | Television film |
| 2010–2015 | Melissa & Joey | Joe Longo | Main role |
| 2011 | Celebrity Ghost Stories | Self | Episode: Jan 1, 2011 |
| The Dog Who Saved Halloween | Zeus | Television film |
| 2012 | Hitched for the Holidays | Rob Marino |
| The Dog Who Saved The Holidays | Zeus |
| 2013 | Splash | Himself | Co-host |
| 2015 | Celebrity Family Feud | Himself | Episode: "Lawrence vs Lopez" |
| 2016 | Cupcake Wars | Himself | Contestant: runner-up |
| 2017–2019 | Hawaii Five-0 | Aaron Wright | 4 episodes |
| 2018 | A Mother's Worst Fear | Brent | Television film |
| 2019 | Celebrity Big Brother | Himself | Contestant / Houseguest: 9th place |
| Dollface | Himself | Episode: "Mystery Brunette" |
| 2021 | Danger Force | Episode: "Vidja Games" |
| My Husband's Secret Brother | Kevin | Television film |
