| Year | Title | Role | Notes |
| 1982 | Matt Houston | Johnny Randolph | Episode: "Stop the Presses" |
| 1983 | Fame | Lucas Boyd | Episode: "Ending on a High Note" |
| 1984 | Call to Glory | - | Episode: "A Nation Divided" |
| 1984–1992 | The Cosby Show | Theodore "Theo" Huxtable | Main cast |
| 1985 | Body Language | Himself | Recurring role |
| 1986 | ABC Afterschool Special | Charlie Curtis | Episode: "A Desperate Exit" |
| Saturday Night Live | Himself/Host | Episode: "Malcolm-Jamal Warner/Run-DMC" |
| 1985–1988 | Sesame Street | Himself | Guest (season 17 & 19) |
| TV's Bloopers & Practical Jokes | Himself | Guest (seasons 3–4) |
| 1987 | The New Hollywood Squares | Himself/Panelist | Episode: "April 27, 1987" |
| Matlock | Himself | Episode: "The Network" |
| 1988–1989 | A Different World | Theo Huxtable | Guest (seasons 1–2) |
| 1989 | Tour of Duty | SPC Sweet | Episode: "The Volunteer" |
| 1990 | Saturday Morning Videos | Himself | Host |
| 1990–1991 | The Fresh Prince of Bel-Air | Himself/Eric | Guest (seasons 1–2) |
| 1992–1993 | Here and Now | Alexander "A.J." James | Main cast |
| 1993–1994 | CBS Storybreak | Host | |
| 1994–1997 | The Magic School Bus | The Producer (voice) | Recurring role |
| 1995 | Touched by an Angel | Zack | Episode: "There But for the Grace of God" |
| 1996–2000 | Malcolm & Eddie | Malcolm McGee | Main cast |
| 1997 | Adventures from the Book of Virtues | Henry (voice) | Episode: "Faith" |
| Moloney | Frank Preston | Episode: "The Ripple Effect" |
| 1999 | Sliders | R.J. | Episode: "My Brother's Keeper" |
| 2002 | Static Shock | Lester Biggs (voice) | Episode: "Duped" |
| Lyric Cafe | Himself | Host |
| 2002–2004 | Jeremiah | Kurdy Malloy | Main cast |
| 2004 | Stripperella | Robber (voice) | Episode: "The Bridesmaid" |
| 2004–2005 | Listen Up | Bernie Widmer | Main cast |
| 2006 | Dexter | Rita's Lawyer | Episode: "Seeing Red" |
| 2008 | The Cleaner | Jason Anders | Episode: "Lie with Me" |
| 2009 | HawthoRNe | Fred | Episode: "Healing Time" |
| Sherri | Kevin | Main cast |
| 2010 | Special Agent Oso | Braden's Dad (voice) | Episode: "The Living Holiday Lights" |
| 2011–2012 | Community | Andre Bennett | Recurring role (season 2); guest (season 3) |
| 2011–2015 | Reed Between the Lines | Dr. Alex Reed | Main cast |
| 2012 | Hard: Life of a Bondservant | Jerry Hampton | Episode: "Know God" |
| 2013 | Friends in Therapy | Tae'Quon Jones | Episode: "Extra Bacon" |
| 2013–2014 | Key & Peele | Arthur Washington/Dad | Guest (seasons 3–4) |
| 2013–2016 | Major Crimes | Lt. Chuck Cooper | Recurring role (seasons 2–5) |
| 2014 | The Michael J. Fox Show | Russel | Episode: "Party" |
| Sons of Anarchy | Sticky | Recurring role (season 7) |
| 2014–2015 | American Horror Story: Freak Show | Angus T. Jefferson | Recurring role |
| 2016 | The People v. O. J. Simpson: American Crime Story | Cowlings | Recurring role |
| House of Lies | Yurgen Celebi | Episode: "Holacracy" |
| 2016–2017 | Suits | Julius Rowe | Recurring role (season 6) |
| 2017 | Lethal Weapon | David Reed | Episode: "Lawmen" |
| Detroiters | Sebastian | Episode: "Hog Riders" |
| White Famous | Nelson Youngblood | Episode: "Scandal" |
| Ten Days in the Valley | Matt Walker | Main cast |
