| Year | Title | Role | Notes |
| 1981 | ABC Afterschool Specials | - | Episode: "The Colour of Friendship" |
| 1984 | The Cosby Show | Phillip Washington | Episode: "A Shirt Story" |
| 1985 | American Playhouse | Royal | Episode: "Go Tell It on the Mountain" |
| 1987 | Spenser: For Hire | Bobby Waters | Episode: "My Enemy, My Friend" |
| 1987–93 | A Different World | Dwayne Cleofis Wayne | Main Cast |
| 1988 | TV's Bloopers & Practical Jokes | Himself | Episode: "Corbin Bernsen/Kadeem Hardison/Morton Downey Jr." |
| 1990 | Saturday Morning Videos | Himself/Host | Main Host |
| The Fresh Prince of Bel-Air | Himself | Episode: "Someday Your Prince Will Be in Effect: Part 2" |
| 1991 | Sesame Street | Himself | Episode: "Episode " |
| 1992 | CBS Schoolbreak Special | Henry Brooks | Episode: "Words Up!" |
| Out All Night | Dean | Episode: "Smooth Operator" |
| Roc | Rev. Adams | Episode: "Dear Landlord" |
| 1994 | Captain Planet and the Planeteers | Goki (voice) | Episode: "Gorillas Will Be Missed" |
| 1995 | Living Single | Marcus Hughes | Episode: "Who's Scooping Who?" |
| 1997 | Touched by an Angel | Marc Hamilton | Episode: "Smokescreen" |
| 1997–99 | Between Brothers | Charles Gordon | Main Cast |
| 1998 | Love Boat: The Next Wave | Perry | Episode: "Smooth Sailing" |
| Linc's | - | Episode: "Gangsta Rap" |
| Fantasy Island | Michael Wilkinson | Episode: "Wishboned" |
| 1998–99 | The Crow: Stairway to Heaven | Skull Cowboy | Recurring Cast |
| 2000 | Just Shoot Me! | Tad Gallow | Episode: "Blackjack" |
| Happily Ever After: Fairy Tales for Every Child | Clown (voice) | Episode: "The Steadfast Tin Soldier" |
| 2001 | Intimate Portrait | Himself | Episode: "Jasmine Guy" |
| What About Joan? | Ben | Episode: "Joan Sets Up Alice" |
| 2002–03 | Livin' Large | Himself/Host | Main Host |
| 2003 | Abby | Will Jefferies | Main Cast |
| 2000–04 | Static Shock | Adam Evans/Rubberband Man (voice) | Recurring Cast: Seasons 1–2 & 4 |
| 2005 | One on One | Director | Episode: "Venice Boulevard of Broken Dreams" |
| 2006 | Just for Kicks | Charles Atwood | Recurring Cast |
| My Name is Earl | Owner | Episode: "Born a Gamblin Man" |
| 2006–07 | House | Lawyer Howard Gemeiner | Recurring Cast: Season 3 |
| 2007 | Girlfriends | Eldon Parks | Recurring Cast: Season 7 |
| 2007–09 | Everybody Hates Chris | Judge Harry Watkins | Guest Cast: Seasons 3–4 |
| 2008 | Under One Roof | Jamal | Episode: "Cell Out" |
| 2009 | Greek | Brian Howard | Episode: "Our Fathers" |
| Cold Case | Andrew 'Huxtable' Garrett '09 | Episode: "Read Between the Lines" |
| 2010 | Ghost Whisperer | Dean Olson | Episode: "Dead Air" |
| The Boondocks | Himself/Bald Actor (voice) | Episode: "Pause" |
| 2012 | Parenthood | Richard Gilchrist | Episode: "Remember Me, I'm the One Who Loves You" |
| Family Guy | NBA Player (voice) | Episode: "Ratings Guy" |
| 2013 | Cult | Paz | Recurring Cast |
| 2015 | Unsung Hollywood | Himself | Episode: "A Different World" |
| 2015–18 | Undercover | Craig Cooper | Main Cast |
| 2016 | Unsung Hollywood | Himself | Episode: "Jasmine Guy" |
| Supernatural | Russell Lemmons | Episode: "Rock Never Dies" |
| 2017 | 9JKL | Terrance | Episode: "The Key to Life" |
| Undercover | Craig Cooper (voice) | Episode: "Infinite Loop" |
| 2018 | Love Is | Norman | Recurring Cast |
| 2019 | Black Monday | Spencer | Recurring Cast: Season 1 |
