| Year | Title | Role | Notes |
| 1974 | The Wild World of Mystery | Rollo | Episode: "The Spy Who Returned From The Dead" |
| 1974 | Police Story | Officer | Episode: "Chief" |
| 1974 | McCloud | Punk (Uncredited) | Episode: "This Must Be The Alamo" |
| 1974 | McMillan & Wife | Joe Smith | Episode: "Downshift to Danger" |
| 1974 | Rhoda | Gary | Episode: "Anything Wrong" |
| 1974 | Gunsmoke | Guthrie | Episode: "In Performance of Duty" |
| 1975 | Three for the Road | Unknown | Episode: "The Rip-off" |
| 1975 | Switch | Bud | Episode: "The Deadly Missiles Caper" |
| 1975 | The Rookies | Jimmy Jay | Episode: "Measure of Mercy" |
| 1976 | Kojak | Burl Stole | Episode: "Law Dance" |
| 1976 | The November Plan | Stan | Television film |
| 1976 | City of Angels | Stan | 3 episodes |
| 1976 | Petrocelli | 1976 | Episode: "Six Strings of Guilt" |
| 1976 | Kingston: Confidential | Dealey | Episode: "Kingston" |
| 1976 | The Streets of San Francisco | Willis Hines | Episode: "The Drop" |
| 1977 | The Rockford Files | Harry Smick | Episode: "Dirty Money, Black Light" |
| 1977 | The Hardy Boys/Nancy Drew Mysteries | Pete Miller | Episode: "Mystery of the Solid Gold Kicker" |
| 1977 | Code R | George Baker | 12 episodes |
| 1977 | The San Pedro Beach Bums | Denny Evans | Episode: "The Shortest Yard" |
| 1977 | Charlie's Angels | George | Episode: "Sammy Davis, Jr. Kidnap Caper" |
| 1977–1978 | We've Got Each Other | Ken Redford | 6 episodes |
| 1978 | The Incredible Hulk | Henry "Rocky" Welsh | Episode: "Final Round" |
| 1978–1979 | Barnaby Jones | Greg Saunders / Stan Benson | 2 episodes |
| 1979 | Donovan's Kid | Kelso | Television film |
| 1979 | Quincy, M.E. | Joe | Episode: "The Death Challenge" |
| 1979 | Starsky & Hutch | Jimmy Lucas | Episode: "Birds of a Feather" |
| 1979 | The Magical World of Disney | Hoover | Episode: "The Sky Trap / Trampa en el cielo" |
| 1979 | The Runaway's | Mike | Episode: "Dreams of My Father" |
| 1979 | CHiPs | Joe Kirby | Episodes: "The Volunteers", "The Death Challenge", "Hot Wheels" |
| 1979 | A Man Called Sloane | Undisclosed Role | Episode: "Lady Bug" |
| 1980 | Tenspeed and Brown Shoe | Hell Hound Leader | Episode: "Savage Says: What Are Friends For?" |
| 1980 | Trouble In High Timber County | Willie Yeager | Television film |
| 1980 | Beyond Westworld | Jack Edwards | Episode: "Take-Over" |
| 1980–1981 | The Edge of Night | Romeo Slade | 16 episodes |
| 1982 | Cry for the Strangers | Jeff | Television film |
| 1982–1988 | Cagney & Lacey | Victor Isbecki | Main role |
| 1983 | The Optimist | The Rival | Episode: "The Good, The Bad, and the Nasty" |
| 1985 | Murder, She Wrote | Gary Ellison | Episode: "Armed Response" |
| 1985 | Wildside | Lyle Rainwood | Episode: "Don't Keep the Home Fires Burning" |
| 1985 | The Twilight Zone | Joe | Episode: "Opening Day" |
| 1988 | Higher Ground | Rick Loden | Television film |
| 1989 | Hard Time on Planet Earth | Jesse | 13 episodes |
| 1993 | Without a Kiss Goodbye | Sheriff Harding | Television film |
| 1993 | Renegade | Mitch Raines / Goliath | 2 episodes |
| 1993 | Tales from the Crypt | Police Officer | Episode: "Half-Way Horrible" |
| 1993–1994 | Kung Fu: The Legend Continues | Chi'Ru Master | 2 episodes |
| 1994 | Burke's Law | Joe Tanner | 2 episodes |
| 1994 | Wyatt Earp: Return to Tombstone | Ed Ross | Television film |
| 1994 | The Gambler V: Playing for keeps | Black Jack | Television film |
