| Year | Title | Role | Notes |
| 1988 | ScreenPlay | Writer | Episode: "Between the Cracks" |
| 1990 | The Bill | Writer | Episode: "Burnside Knew My Father" |
| 1991 | The Orchid House | Baptist | 3 episodes |
| 1992 | Civvies | Cliff Morgan | 6 episodes |
| 1993 | Comics | Delroy Smith | Television film |
| 1994 | A Touch of Frost | DC Carl Tanner | Episode: "A Minority of One" |
| Love Hurts | Steve | Episode: "Parent Trap" |
| 1995–1996 | Out of the Blue | DC Bruce Hannaford | 12 episodes |
| 1998 | Cold Feet | Kris Bumstead | 3 episodes |
| Undercover Heart | Matt Lomas | 5 episodes |
| 1999 | Shockers: Deja Vu | Mark | Television film |
| 2000 | Storm Damage | Bonaface | Television film; also writerNominated–BAFTA TV Award for Best Single Drama |
| 2003 | Buried | Lee Kingley | 8 episodes |
| 2004 | Family Business | Roy Tobelem | Episode: "#1.1" |
| Stealing Lives | Narrator | Television film |
| 2005 | ShakespeaRe-Told | Oberon | Episode: "A Midsummer Night's Dream" |
| Born with Two Mothers | Errol Bridges | Television film |
| 2006 | Spooks | David Newman | Episode: "Agenda" |
| The State Within | Luke Gardner | 4 episodes |
| The Family Man | Paul Jessop | Television film |
| 2006–2008 | Jericho | Robert Hawkins | 29 episodes |
| 2008 | Fallout | DS Joe Stephens | Television film |
| 2009 | Lie to Me | Terry "Tel" Marsh | Episode: "Grievous Bodily Harm" |
| Three Rivers | Dr Maguire | Episode: "Alone Together" |
| The Prisoner | 147 | 6 episodes |
| Attorney | Eric King | Pilot |
| 2010 | Human Target | Baptiste | 3 episodes |
| 2010–2011 | Hung | Charlie | 14 episodes |
| 2010;2013–2018 | The Walking Dead | Morgan Jones | Guest, 2 episodes (seasons 1, 3) Recurring, 3 episodes (season 5) Main cast, 29 episodes (seasons 6–8) |
| 2012 | Line of Duty | DCI Tony Gates | 5 episodes |
| 2013 | Low Winter Sun | Joe Geddes | Main cast, 10 episodes |
| Run | Richard | 2 episodes |
| 2015 | Critical | Glen Boyle | Main cast, 13 episodes |
| 2015; 2017 | The Met: Policing London | Narrator | 10 episodes |
| 2017 | Robot Chicken | Morgan Jones (voice) | Episode: "The Robot Chicken Walking Dead Special: Look Who's Walking" |
| 2018–2023 | Fear the Walking Dead | Morgan Jones | Main cast, 61 episodes (seasons 4–8)Directed 3 episodes |
| 2018–2020 | Save Me | Nelson "Nelly" Rowe | Main cast, 12 episodes Also creator and writer |
| 2020 | Unprecedented | Ray | Episode: "Penny" by Charlene James |
| 2021 | Invincible | Darkwing (voice) | Episode: "It's About Time" |
| 2023 | Archer | Ibadan Peters (voice) | Episode: "Plaque Removal" |
| 2024 | Genius | Martin Luther King Sr. | 5 episodes |
| Mr Loverman | Barrington Jedidiah Walker | Main role; also an executive producer |
| 2025 | Mayor of Kingstown | Frank Moses | Recurring role |
