| Year | Title | Role | Notes |
| 1981–1984 | All My Children | Jenny Gardner Nelson | Nominated—Daytime Emmy Award for Outstanding Supporting Actress in a Drama Series |
| 1986 | The Equalizer | Sally Ann Carter | Episode: "Unnatural Causes" |
| 1986 | Hotel | Marie Lockhart | Episode: "Forsaking All Others" |
| 1987 | Perry Mason: The Case of the Sinister Spirit | Susan Warrenfield | Television film |
| 1987 | Law | Leslie Kleinberg | 4 episodes |
| 1989–1990 | Tour of Duty | Alex Devlin | 18 episodes |
| 1990 | Tales from the Crypt | Gloria Fleming | Episode: "The Sacrifice" |
| 1992 | Lady Boss | Lucky Santangelo | Television film |
| 1992 | The Fifth Corner | Erica Fontaine | Television film |
| 1993 | The Disappearance of Christina | Lilly Kroft | Television film |
| 1995 | Tall, Dark and Deadly | Maggie Springer | Television film |
| 1995–2003 | NYPD Blue | Det. Diane Russell | 137 episodesPrimetime Emmy Award for Outstanding Supporting Actress in a Drama SeriesNominated—Golden Globe Award for Best Actress – Television Series Drama (1998–99)Nominated—Primetime Emmy Award for Outstanding Supporting Actress in a Drama Series (1998–99)Nominated—Satellite Award for Best Actress – Television Series Drama (1997–98)Nominated—Screen Actors Guild Award for Outstanding Performance by a Female Actor in a Drama Series (1997–99)Nominated—Screen Actors Guild Award for Outstanding Performance by an Ensemble in a Drama Series (1996–2000)Nominated—Viewers for Quality Television Award for Best Actress in a Quality Drama SeriesNominated—Viewers for Quality Television Award for Best Supporting Actress in a Quality Drama Series |
| 1996 | Closer and Closer | Kate Saunders | Television film |
| 1997 | All Lies End in Murder | Meredith 'Mere' Scialo | Television film |
| 1997 | The Devil's Child | Nikki DeMarco | Television film |
| 2001 | Love and Treason | Lt. Kate Timmons | Television film |
| 2001–2002 | Philly | Kathleen Maguire | 22 episodesNominated—Satellite Award for Best Actress – Television Series Drama |
| 2002 | CSI: Miami | Megan Donner | 10 episodes |
| 2004 | Infidelity | Danielle Montet | Television film |
| 2004 | 10.5 | Dr. Samantha Hill | Television film |
| 2005 | The O.C. | Rebecca Bloom | 5 episodes |
| 2006 | Apocalypse | Dr. Samantha Hill | Television film |
| 2006 | Nightmares and Dreamscapes | Mary Rivingham | Episode: "You Know They Got a Hell of a Band" |
| 2007 | Law & Order: Special Victims Unit | Captain Julia Millfield | 2 episodes |
| 2007–2012 | Army Wives | Claudia Joy Holden | 104 episodes |
| 2011 | Finding a Family | Ileana | Television film |
| 2015 | To Appomattox | Mary Todd Lincoln | Television miniseries |
| 2016 | Murder in the First | Dr. Nancy Redman | 2 episodes |
| 2017 | Signed, Sealed, Delivered: Home Again | Kim Kellser | Television film |
| 2018 | Chicago Fire | Mother of Kelly Severide, Jennifer Sheridan | 3 episodes |
| 2020–2021 | General Hospital | Jackie Templeton | Recurring roleNominated—Daytime Emmy Award for Outstanding Guest Performer in a Drama Series (2021) |
| 2021 | The Long Island Serial Killer: A Mother's Hunt for Justice | Mari Gilbert | Television film |
