| Year | Title | Role | Notes |
| 1980 | Cats | Timothy | Pilot episode |
| Ryan's Hope | Preston Post | 8 episodes |
| 1983 | Cagney & Lacey | Johnny "Nose" | Episode: "Hopes and Dreams" |
| Hardcastle and McCormick | Deseau | Episode: "Man in a Glass House" |
| Blood Feud | Mel Pierce | Television film |
| 1984 | The A-Team | Mack Dalton | Episode: "In Plane Sight" |
| Riptide | John McMasters | Episode: "Raiders of the Lost Sub" |
| Legmen | Finch | Episode: "A Woman's Work" |
| Cagney & Lacey | Sergeant King | Episode: "Heat" |
| Hardcastle and McCormick | Josh Fulton | Episode: "Never My Love" |
| 1989 | Beauty and the Beast | "Snow" | Episode: "Snow" |
| 1990–1991 | Tales from the Crypt | Reno Crevice / Sergeant Ripper | 2 episodes |
| 1996–1999 | Millennium | Frank Black | 67 episodes |
| 1998 | The Day Lincoln Was Shot | Abraham Lincoln | Television film |
| 1999 | The X-Files | Frank Black | Episode: "Millennium" |
| Harsh Realm | General | Pilot episode |
| 2001 | The Legend of Tarzan | Kerchak | Voice, episode: "Tarzan and Tublat's Revenge" |
| Lost Voyage | David Shaw | Television film |
| 2004 | Static Shock | Kobra Leader | Voice, episode: "Future Shock" |
| Evel Knievel | William "Awful" Knoffel | Television film |
| 2005 | Super Robot Monkey Team Hyperforce Go! | Mobius Quint | Voice, episode: "Hunt for the Citadel of Bone" |
| Into the West | Daniel Wheeler | Episode: "Hell on Wheels" |
| IGPX: Immortal Grand Prix | Andrei Rublev | Voice, episode: "Time to Shine" |
| Supernova | Colonel Harlan Williams | Television film |
| 2006 | Pumpkinhead: Ashes to Ashes | Ed Harley |
| 2007 | Pumpkinhead: Blood Feud |
| In the Spider's Web | Dr. Lecorpus |
| Caminhos do Coração | Dr. Walker | 6 episodes |
| 2008 | DEA | The Narrator | Voice |
| Ladies of the House | Frank Olmstead | Television film |
| 2008–2009 | Transformers: Animated | Lockdown | Voice, 3 episodes |
| 2009 | NCIS | Sheriff Clay Boyd | Episode: "South by Southwest" |
| 2010 | The Avengers: Earth's Mightiest Heroes | Grim Reaper | Voice, 4 episodes |
| Castle | Benny Stryker | Episode: "Close Encounters of the Murderous Kind" |
| 2011 | The Witches of Oz | Henry Gale | 2 episodes |
| Memphis Beat | Tom Harrison | Episode: "The Feud" |
| The Dog Who Saved Halloween | Professor Eli Cole | Television film |
| 2012–2013 | Tron: Uprising | Tesler | Voice, 16 episodes |
| 2012 | The Legend of Korra | Lieutenant | Voice, 7 episodes |
| 2013 | Hannibal | Lawrence Wells | Episode: "Trou Normand" |
| 2014 | The Strain | The Narrator | Voice, episode: "Night Zero" |
| 2014–2017 | All Hail King Julien | Doc Sugarfoot | Voice, episode: "Election" |
| 2015–2016 | The Blacklist | The Major / Bill McCready | 4 episodes |
| 2015 | Teenage Mutant Ninja Turtles | Zog | Voice, episode: "Dinosaur Seen in Sewers!" |
| 2015–2017 | Into the Badlands | Penrith | 3 episodes |
| 2016 | Grey's Anatomy | Griffin McColl | Episode: "Odd Man Out" |
| Criminal Minds | Chazz Montolo | Episode: "A Beautiful Disaster" |
| The Night Shift | Clive | 2 episodes |
| Legends of Tomorrow | Obsidian | Episode: "Compromised" |
