| Year | Title | Role | Notes |
| 1970 | The Bill Cosby Show | 1st Salesman | as Johnny AmosEpisode: "Swann's Way" |
| 1970–1977 | The Mary Tyler Moore Show | Weatherman Gordon "Gordy" Howard | 13 episodes |
| 1971 | The Funny Side | Minority Husband | 6 episodes |
| 1971–1972 | Love, American Style | Bell Captain | 2 episodes |
| 1972 | The New Dick Van Dyke Show | Mark Cooper | Episode: "The Harry Award" |
| 1973 | Sanford and Son | Luther | Episode: "A Visit from Lena Horne" |
| 1973–1974 | Maude | Henry Evans | Recurring role, 3 episodes |
| 1974 | The Tonight Show Starring Johnny Carson | Himself | 1 episode |
| 1974–1976 | Good Times | James Evans Sr. | 57 episodes |
| 1976 | Police Story | Sergeant Walt Kyles | 1 episode |
| 1976–1977 | Future Cop | Officer Bill Bundy | 7 episodes |
| 1977 | Roots | Older Kunta Kinte | 3 episodes |
| 1979 | Mr. Dugan | Representative Dooley | Unaired pilot |
| 1980 | Alcatraz: The Whole Shocking Story | Ellsworth "Bumpy" Johnson | TV miniseries |
| 1981 | Here's Boomer | Charlie Foster | Episode: "Boomer Goes for the Gold" |
| 1982 | Insight | Josh Cameron | Episode: "Hang Tight, Willy Bill" |
| 1983 | The Love Boat | Duke Taylor | Episode: "The Zinging Valentine/The Very Temporary Secretary/Final Score" |
| 1984 | The A-Team | Reverend Taylor | Episode: "Pure-Dee Poison" |
| Trapper John, M.D. | Inspector Roland Hackett | Episode: "The Fred Connection" |
| Hardcastle and McCormick | Albie Meadows | Episode: "The Homecoming: Part 2" |
| 1984–1985 | Hunter | Captain Dolan | 13 episodes |
| 1986 | One Life to Live | Bill Moore | 2 episodes |
| 1987 | Murder, She Wrote | "Doc" Penrose | Episode: "Death Takes a Dive" |
| Stingray | Roy Jeffries | Episode: "Blood Money" |
| You Are the Jury | Sergeant Harold Borman | Episode: "The State of Oregon vs. Stanley Manning" |
| 1988 | Beauty and the Beast | Farrell | Episode: "The Alchemist" |
| Bonanza: The Next Generation | Mr. Mack | TV movie |
| The Cosby Show | Dr. Herbert | Episode: "The Physical" |
| 1989 | Gideon Oliver | Carl Manning | Episode: "Tongs" |
| 1994 | 704 Hauser | Ernie Cumberbatch | 6 episodes |
| 1994–1995 | The Fresh Prince of Bel-Air | Fred Wilkes | 3 episodes |
| 1995–1997 | In the House | Coach Sam Wilson | 12 episodes |
| 1995 | Touched by an Angel | Sheriff James Mackey | Episode: "The Hero" |
| 1997 | Martin | Sergeant Strawn | Episode: "Daddy Dearest" |
| Walker, Texas Ranger | Pastor Roscoe Jones | Episode: "Sons of Thunder" |
| 1998 | King of the Hill | Glenn Johnson | VoiceEpisode: "Traffic Jam" |
| 1999–2004 | The West Wing | Admiral Percy Fitzwallace | 22 episodes |
| 2000 | Something to Sing About | Reverend Washington | TV movie |
| The Outer Limits | Peter "Yas" Yastrzemski | Episode: "Zig Zag" |
| Disappearing Acts | Mr. Swift | TV movie |
| 2000–2001 | The District | Mayor Ethan Baker | 10 episodes |
| 2002 | American Masters | Dr. Bledsoe | Episode: "Ralph Ellison: An American Journey" |
| 2003–2004 | All About the Andersons | Joe Anderson | 16 episodes |
| 2006 | Voodoo Moon | "Dutch" | TV movie |
| 2006–2008 | Men in Trees | "Buzz" Washington | 27 episodes |
| 2007 | Psych | Uncle Burton Guster | Episode: "Meat Is Murder, But Murder Is Also Murder" |
| 2008 | My Name Is Earl | Joe | Episode: "Stole an RV" |
| 2010 | Two and a Half Men | Ed | 3 episodes |
| Royal Pains | Harrison Phillips | Episode: "Big Whoop" |
