| Year | Title | Role | Notes |
| 1950 | The Lone Ranger | Dick McHenry | Episode: "Pay Dirt" |
| 1950–1951 | The Stu Erwin Show | Drexel Potter | 8 episodes |
| 1951 | The Bigelow Theatre | T.K.O. | Episode: "T.K.O." |
| 1952–1955 | Dragnet | Stephen Banner | 6 episodes |
| 1953–1957 | The Life of Riley | BruceDon Marshall | 4 episodes |
| 1954–1955 | Schlitz Playhouse of Stars | Various roles | 2 episodes |
| 1955 | The Great Gildersleeve | Brick | Episode: "Water Commissioner's Water Color" |
| 1956 | NBC Matinee Theater | Various roles | 2 episodes |
| 1956 | TV Reader's Digest | US Army Recruit | Episode: "The Old, Old Story" |
| 1956 | The Charles Farrell Show | | Episode: "Love and Kisses" |
| 1956 | Telephone Time | | Episode: "The Churchill Club" |
| 1956 | Science Fiction Theatre | Britt | Episode: "Three Minute Mile" |
| 1956 | Crossroads | Charles Mitchell | 2 episodes |
| 1956 | Navy Log | Monk Jacob | "Incident at Formosa" |
| 1956–1957 | The West Point Story | Various roles | 2 episodes |
| 1958 | Wagon Train | Matt Trumbell | Episode: "The Sally Potter Story" |
| 1958–1959 | Westinghouse Desilu Playhouse | Various roles | 2 episodes |
| 1958–1959 | The Millionaire | Various roles | 2 episodes |
| 1959 | Rawhide | Johnny Doan | Episode: "Incident with an Executioner" |
| 1959 | Playhouse 90 | | Episode: "Judgment at Nuremberg" |
| 1959 | Steve Canyon | Sgt. Ernest Bigelow | Season 1/Episode 34: "Operation Firebee" |
| 1959 | Hotel de Paree | Pat Williams | Episode: "Vein of Ore" |
| 1959 | Marshal | Deputy Bob Baxter | Episode: "Trigger Happy" |
| 1960 | The Twilight Zone | Paul Grinstead | Episode: "Mirror Image" |
| 1960–1964 | Route 66 | Tod Stiles | 116 episodes |
| 1965 | Memorandum for a Spy | | Television film |
| 1965 | Starr, First Baseman | Joe Starr | Television film |
| 1965 | Slattery's People | State Representative Scott Fleming | Episode: "Question: What's a Requiem for a Loser?" |
| 1965 | Gidget | Kahuna | Episode: "The Great Kahuna" |
| 1965 | Laredo | Clendon MacMillan | Episode: "Yahoo" |
| 1965–1966 | Bob Hope Presents the Chrysler Theatre | Various roles | 3 episodes |
| 1965–1966 | The Virginian | Various roles | 2 episodes |
| 1966 | A Man Called Shenandoah | Neal Henderson | Episode: "Requiem for the Second" |
| 1966 | 12 O'Clock High | Maj. Dimscek | Episode: "Six Feet Under" |
| 1967 | The Rat Patrol | Sgt. Roberts | Episode: "The Wild Goose Raid" |
| 1967 | Run for Your Life | Colonel Mike Green | 2 episodes |
| 1967 | The Felony Squad | Thomas Glynn | Episode: "Hit and Run, Run, Run" |
| 1967 | Insight | Sherm | Episode: "Fat Hands and a Diamond Ring" |
| 1968 | Land's End | Eric | Television film |
| 1968 | Dragnet | Officer Pete Malloy | Episode: "Internal Affairs: DR-20" |
| 1968–1975 | Adam-12 | Officer Pete Malloy | 174 episodes |
| 1970 | The Tonight Show Starring Johnny Carson | self | Episode: September 28, 1970 |
| 1971 | Columbo | Jim Ferris | Episode: "Murder by the Book" |
| 1971 | The D.A. (1971 TV series) | Officer Pete Malloy | Episode: "The People vs. Saydo" |
| 1972 | Hollywood Squares | Himself | Celebrity Guest Star |
| 1972–1976 | Emergency! | Officer Pete Malloy | 3 episodes |
| 1973 | Runaway! | John Shedd | Television film |
| 1974 | Hurricane | Maj. Hymie Stoddard | Television film |
| 1975–1976 | The Swiss Family Robinson | Karl Robinson | 20 episodes |