| Year | Title | Role | Notes |
| 1978 | How to Pick Up Girls! | Bartender | Television film |
| 1980 | Another World | Jerry Grove | Recurring role |
| 1982 | Born Beautiful | Stan | Television film |
| A Midsummer Night's Dream | Lysander |
| 1983 | A Fine Romance | Phil |
| Kennedy | Ted Kennedy | Miniseries |
| 1984 | George Washington | John Laurens | 1 episode |
| 1984–1985 | Search for Tomorrow | Chase Kendall | 79 episodes |
| 1985 | Covenant | Stephen | Television film |
| 1985–1986 | Dynasty | Bart Fallmont | Recurring role; season 6 |
| 1986 | Matlock | Clark Harrison | Episode: "The Affair" |
| Kay O'Brien | David | Episode: "Princess of the City" |
| Spenser: For Hire | Gallagher | Episode: "Shadowsight" |
| 1987 | Ohara | Captain Lloyd Hamilton | Main role; season 1 |
| 1987–1988 | Tour of Duty | Captain Rusty Wallace | Recurring role; season 1 |
| 1988 | Killer Instinct | Dr. Steven Nelson | Television film |
| 1990 | So Proudly We Hail | Francis Crosby | Television film |
| 1989–1990 | Cheers | Darryl Mead | 2 episodes |
| 1990 | The Face of Fear | Frank Dwight Bollinger | Television film |
| WIOU | Lenny Lubinsky | Episode: "Pilot" |
| 1991 | Murphy Brown | Roger Harris | Episode: "Terror on the 17th Floor" |
| Hi Honey – I'm Dead | Brad Stadler | Television film |
| 1992 | Rachel Gunn, R.N. | Dr. David Dunkle | Main role |
| The Secret Passion of Robert Clayton | Hunter Roy Evans | Television film |
| Battle in the Erogenous Zone | Mondo Ray | Television short |
| 1992–1995 | Batman: The Animated Series | Bruce Wayne / Batman, additional voices | Main voice role |
| 1994 | Island City | Colonel Tom Valdoon | Television film |
| 1994 | The New Adventures of Captain Planet | Army Corps of Engineers Official | Voice, episode: "Jail House Flock" |
| 1995 | The Office | Steve Gilman | Main role |
| 1996 | The Real Adventures of Jonny Quest | Hardman | Voice, episode: "Manhattan Maneater" |
| 1997–1999 | The New Batman Adventures | Bruce Wayne / Batman | Main voice role |
| Superman: The Animated Series | Voice, recurring role |
| 1999–2001 | Batman Beyond | Bruce Wayne / Batman, Stage Batman | Main voice role |
| 2001 | The Zeta Project | Bruce Wayne / Batman | Voice, episode: "Shadows" |
| 2001–2004 | Justice League | Bruce Wayne / Batman, additional voices | Voice, main role |
| 2002–2004 | Static Shock | Bruce Wayne / Batman | Voice, 5 episodes |
| 2004–2006 | Justice League Unlimited | Bruce Wayne / Batman, Joe Chill | Main voice role |
| 2006 | The Batman | John Grayson | Voice, episode: "A Matter of Family" |
| 2008 | Ben 10: Alien Force | Bellicus | Voice, episode: "X = Ben + 2" |
| 2009, 2013 | The Venture Bros. | Captain Sunshine | Voice, 2 episodes |
| 2010 | Batman: The Brave and the Bold | Batman of Zur-En-Arrh, Phantom Stranger | Voice, 2 episodes |
| 2013 | DC Nation Shorts: Tales of Metropolis | Bruce Wayne / Batman | Voice, episode: "Lois Lane" |
| 2014 | DC Nation Shorts: Batman Beyond | Voice, television short |
| DC Nation Shorts: Batman: Strange Days | Voice, television short |
| DC Nation Shorts: Shazam! | Zeus | Voice, episode: "Wisdom" |
| 2015 | Turbo Fast | Stinger | Voice, episode: "The Sting of Injustice" |
| 2016–2018 | Justice League Action | Bruce Wayne / Batman | Main voice role |
| 2018 | Teen Titans Go! | Voice, episode: "Real Orangins" |
| 2019 | Scooby-Doo and Guess Who? | Voice, episode: "What a Night, For a Dark Knight!" |