| Year | Title | Role | Notes |
| 1984 | Pablo | Tomas Del Gato | Main role |
| 1984–1986 | Kids Incorporated | Himself | Dancer/Drummer (seasons 1–3) |
| 1986 | The Deacon Street Deer | Hector | Television film |
| 1987 | The Golden Girls | Mario | Episode: "Dorothy's Prized Pupil" |
| 1989–1993 | Saved by the Bell | Slater | Main role |
| 1992 | Saved by the Bell: Hawaiian Style | Slater | Television film |
| 1993–1994 | Saved by the Bell: The College Years | Slater | Main role |
| 1994 | Saved by the Bell: Wedding in Las Vegas | Slater | Television film |
| 1994 | Bill Nye the Science Guy | Himself | Communication cameo |
| 1995–1996 | Saved by the Bell: The New Class | Slater | Episodes: "Goodbye, Bayside Part 2" and "Fire at the Max Part 2" |
| 1995–1996 | Masters of the Maze | Himself | Host (season 2) |
| 1997 | Breaking the Surface: The Greg Louganis Story | Greg Louganis | Television film |
| 1997 | Killing Mr. Griffin | Dave Ruggles | Television film |
| 1999 | Pacific Blue | Bobby Cruz | Main role (seasons 4–5) |
| 2001–2003 | The Other Half | Himself | Host |
| 2002–2005 | Pet Star | Himself | Host |
| 2004 | The Soluna Project | Antonio | Television film |
| 2006 | The Bold and the Beautiful | Christian Ramirez | Contract role, 46 episodes |
| 2006 | Dancing with the Stars | Himself | Contestant (season 3) |
| 2006–2010 | Nip/Tuck | Dr. Mike Hamoui | Recurring role, 8 episodes |
| 2007 | George Lopez | Police Officer Sanchez | Episode: "George Can't Let Sleeping Mexicans Lie" |
| 2007 | Holiday in Handcuffs | David Martin | Television film |
| 2007 | Miss Universe 2007 | Himself | Host |
| 2008 | Husband for Hire | Marco | Television film |
| 2008 | MTV's Top Pop Group | Himself | Host |
| 2008–2012 | America's Best Dance Crew | Himself | Host |
| 2008 | Robot Chicken | A.C Slater | Voice, episode: "Boo Cocky" |
| 2008–2019 | Extra | Himself | Host |
| 2009 | The Dog Who Saved Christmas | Zeus the Dog | Voice, television film |
| 2010 | The Spin Crowd | Himself | Episode: "Image Is Everything" |
| 2010–2011 | Mario Lopez: Saved by the Baby | Himself | Lead role |
| 2010 | The Dog Who Saved Christmas Vacation | Zeus the Dog | Voice, television film |
| 2011 | H8R | Himself | Host |
| 2011–2012 | Disney Parks Christmas Day Parade | Himself | Host |
| 2012 | Sesame Street | Himself (reporter) | Episode: "The Veggie Monster" |
| 2012 | Are You There, Chelsea? | Himself | Episode: "Dee Dee's Pillow" |
| 2012–2013 | The X Factor | Himself | Co-host (season 2) |
| 2012–2013 | The Chica Show | Stitches | Voice |
| 2015–2016 | Nashville | Himself | Episodes: "I've Got Reasons to Hate You" and "The Trouble with the Truth" |
| 2015 | Major Crimes | Himself | Episode: "Reality Check" |
| 2015 | Dinner at Tiffani's | Himself | Episode: "Come in For Comfort Food" |
| 2016 | Grease: Live | Vince Fontaine | Television film |
| 2016 | Almost Royal | Himself | 1 episode |
| 2016 | NCIS: New Orleans | NOPD Officer Hernandez | Episode: "Man On Fire" |
| 2017 | Candy Crush | Himself | Host |
| 2017 | A Very Merry Toy Store | Will DiNova | Television film |
| 2018 | Elena of Avalor | Cruz | Voice, 7 episodes |
| 2018 | Jane the Virgin | Himself | Episode: "Chapter Seventy-Nine" |
| 2018–2019 | The Adventures of Rocky and Bullwinkle | Himself | Recurring voice role |
