| Year | Title | Role | Notes |
| 1995–2002, 2010 | All My Children | Mateo Santos | 104 episodes ALMA Award for Outstanding Actor in a Daytime Drama (1998–1999) Soap Opera Digest Award for Outstanding Male Newcomer (1996) Soap Opera Digest Award for Hottest Romance (shared with Kelly Ripa) (1998) Soap Opera Digest Award for Outstanding Younger Lead Actor (2000) Nominated — ALMA Award for Outstanding Actor in a Daytime Drama (2000–2002) Nominated — Daytime Emmy Award for Outstanding Supporting Actor in a Drama Series (2002) |
| 1997 | Road Rules | Himself | Episode: "Road Rules on All My Children" |
| 1997 | Connect With English | Alberto Mendoza | 8 episodes |
| 2001 | Third Watch | Daddy | Episode: "Childhood Watch" |
| 2001 | Friends | Policeman (Mr. Hanson) | Episode: "The One with Chandler's Dad" |
| 2002 | American Family | Eduardo | 2 episodes |
| 2003 | Third Watch | Detective Ramon Valenzuela | Episode: "Everybody Lies" |
| 2003 | Beautiful Girl | Adam Lopez | Television movie |
| 2004–2006 | Missing | Antonio Cortez | 37 episodes Nominated — Imagen Award for Best Supporting Actor on Television (2005) |
| 2005–2006 | Hope & Faith | Gary Gucharez | 10 episodes |
| 2007 | Law & Order: Criminal Intent | US Attorney Berner | Episode: "Albatross" |
| 2007 | Age of Love | Himself / Host | 8 episodes |
| 2008 | Ugly Betty | Detective Averaimo | Episode: "Crimes of Fashion" |
| 2011 | The Protector | Chuck Wyatt | Episode: "Bangs" |
| 2012 | I Hate My Teenage Daughter | Alejandro Castillo | 2 episodes |
| 2012 | Law & Order: Special Victims Unit | Mike Martinez | Episode: "Justice Denied" |
| 2012–2013 | American Horror Story: Asylum | Spivey | 5 episodes |
| 2013 | The New Normal | Chris | Episode: "Gaydar" |
| 2013 | Guys with Kids | Andy | Episode: "The Will" |
| 2013–2014 | Alpha House | Andy Guzman | 21 episodes Nominated — Imagen Award for Best Actor on Television (2015) |
| 2015 | Kingdom | Sean Chapas | 5 episodes |
| 2016 | Pitch | Oscar | 10 episodes |
| 2016 | Queen of the South | Teo Aljarafe | 7 episodes |
| 2016 | Difficult People | Joey | Episode: "Italian Piñata" |
| 2016 | Nightcap | Himself | Episode: "Babymaker" |
| 2017–2023 | Riverdale | Hiram Lodge | 75 episodes Main cast (seasons 2–5) Guest role (seasons 6–7) Teen Choice Award for Choice TV Villain (2018) |
| 2017 | The Night Shift | Dr. Cain Diaz | 8 episodes |
| 2019 | Broad City | Brad | Episode: "Bitcoin & the Missing Girl" |
| 2020 | Katy Keene | Hiram Lodge | Episode: "Chapter Thirteen: Come Together" |
| 2022 | Only Murders in the Building | Mabel's late father | Episode: "Flipping the Pieces" |
| 2023 | How I Met Your Father | Juan | Episode: "Ride or Die" |
| 2023–present | Live with Kelly and Mark | Himself / Host | Substitute host and recurring guest Daytime Emmy Award for Outstanding Daytime Talk Series Host (2024) Nominated — Daytime Emmy Award for Outstanding Daytime Talk Series Host (2025) |
| 2024 | The Girls on the Bus | Biff de la Peña | Recurring role |
| 2024–2025 | Primos | Tio Ivan (voice) | Recurring role |
| 2025 | Running with the Wolves | Himself | Recurring role |
| 2025 | 9-1-1 | Tripp | 4 episodes |