| Year | Title | Role | Notes | Ref. |
| 1996 | New York Undercover | Oscar Griffin | Episode: "The Enforcers" | |
| Swift Justice | Jim Stark | Episode: "Bad Medicine" | |
| 1997 | The Nanny | Stage Hand | Episode: "Fair Weather Fran" | |
| What the Deaf Man Heard | George Thacker | Television film | |
| 1998 | The Fixer | Tyrell Holmes | Television film | |
| Witness to the Mob | Foreman Trial | Television film | |
| 1999 | The West Wing | DC Police Officer | Episode: "In Excelsis Deo" | |
| 2000 | The Corner | Marvin | Mini series | |
| 2000–2001 | Oz | Johnny Basil | Recurring role | |
| 2000–2001 | Law & Order: Special Victims Unit | Dr. Taylor | Recurring role | |
| 2001 | Law & Order | Captain Gasana | Episode: "Soldier of Fortune" | |
| 2002 | Keep the Faith, Baby | J. Raymond Jones | Television film | |
| 2002–2008 | The Wire | Cedric Daniels | Main role | |
| 2003 | Law & Order: Criminal Intent | Jack Bernard | Episode: "Probability" | |
| 2004 | Law & Order | FBI Special Agent Jamal Atkinson | Episode: "City Hall" | |
| 2005 | Independent Lens | James | Episode: "Brother to Brother" | |
| 2005–2006 | CSI: Miami | FBI Agent David Park | 3 episodes | |
| 2007 | Numb3rs | Lieutenant Steve Davidson | Episode: "End of Watch" | |
| 2008–2009 | Lost | Matthew Abaddon | 4 episodes | |
| 2008–2013 | Fringe | Phillip Broyles | Main role | |
| 2010 | Svetlana | Lance | Episode: "Snatchengil for the Stars" | |
| 2011 | It's Always Sunny in Philadelphia | Reggie | Episode: "Frank's Brother" | |
| 2012 | The Avengers: Earth's Mightiest Heroes | Falcon (voice) | 2 episodes | |
| 2012–2013 | Tron: Uprising | Cutler (voice) | 3 episodes | |
| 2013 | Wilfred | Dr. Blum | Episode: "Perspective" | |
| NTSF:SD:SUV:: | Todd Broger | Episode: "TGI Murder" | |
| Comedy Bang! Bang! | Angelfire | Episode: "Andy Samberg Wears A Plaid Shirt And Glasses" | |
| The Eric Andre Show | Himself | Episode: "Lance Reddick; Harry Shum Jr." | |
| 2014 | Beware the Batman | Ra's al Ghul (voice) | 3 episodes | |
| Intelligence | DCI Jeffrey Tetazoo | 5 episodes | |
| The Blacklist | The Cowboy | 2 episodes | |
| Key & Peele | Johnson Family Member | Episode: "Gay Wedding Advice" | |
| 2014-2018 | American Horror Story | Papa Legba | Season 3 & Season 8, 4 episodes | |
| 2014–2021 | Bosch | Deputy Chief Irvin Irving | Main role | |
| 2015 | Castle | Keith Kaufman | Episode: "Hollander's Woods" | |
| Tim & Eric's Bedtime Stories | Joseph Zagen | Episode: "Tornado" | |
| 2016 | Mary + Jane | David | Episode: "Rehab" | |
| 2017 | Rick and Morty | Alan Rails (voice) | Episode: "Vindicators 3: The Return of Worldender" | |
| 2018–2020 | Corporate | Christian DeVille | Recurring role | |
| 2019 | DuckTales | General Lunaris (voice) | Recurring role | |
| 2020 | Castlevania | The Captain (voice) | 2 episodes | |
| 2020–2022 | Paradise PD | Agent Clappers (voice) | Recurring role | |
| 2020 | Through the Eye of the Needle | Narrator | Dust short story special episode | |
| 2021 | America's Book of Secrets | Narrator | Main role (season 4) | |
| Young Sheldon | Professor Boucher | Episode: "An Introduction to Engineering and a Glob of Hair Gel" | |
| 2022 | Resident Evil | Albert Wesker / Al Wesker / Bert Wesker / Alby Wesker | Main role | |
| Farzar | Renzo / Agent Clappers (voices) | Main role | |
| 2023–2024 | The Legend of Vox Machina | Thordak (voice) | Recurring role (season 2–3); posthumous release of season 3 | |
| 2023 | Invincible | Steven Erickson (voice) | Episode: "Atom Eve"; posthumous release | |
