| Year | Title | Role | Notes |
| 1969–1971 | The Doris Day Show | Michael Nicholson | 33 episodes |
| 1969 | That Girl | Mr. McKorkle | Episode: "My Sister's Keeper" |
| 1970 | The Tim Conway Comedy Hour | — | Episode: "#1.9" |
| 1971 | Love, American Style | Lt. Miller | Episode: "Love and the Penal Code" |
| 1971 | The Bold Ones: The New Doctors | George Caldwell | Episode: "One Lonely Step" |
| 1972 | Insight | Mr. McAdams | Episode: "The System" |
| 1972–1975 | M*A*S*H | Lt. Colonel Henry Blake | 71 episodes |
| 1974 | The Flip Wilson Show | Himself | Episode: - February 21, 1974 |
| 1973–1981 | Match Game | Himself | Game Show Participant / Celebrity Guest Star |
| 1975 | Cher | Lt. Colonel Henry Blake | Episode: "#8.22" |
| 1975 | The McLean Stevenson Show | — | NBC variety show special, 1 episode |
| 1976–1977 | The McLean Stevenson Show | Mac Ferguson | 12 episodes |
| 1978 | In the Beginning | Father Daniel M. Cleary | 9 episodes |
| 1979–1980 | Hello, Larry | Larry Alder | 38 episodes |
| 1979 | Diff'rent Strokes | Larry Alder | 3 episodes |
| 1981 | The Love Boat | Bob Crawford | Episode: "A Model Marriage" |
| 1983 | The Love Boat | Captain Donahue | Episode: "The Captain's Replacement" |
| 1983 | Condo | James Kirkridge | 13 episodes |
| 1984 | Hotel | Harry Gilford | Episode: "Reflections" |
| 1984 | The Love Boat | Michael Borden | Episode: "The Buck Stops Here" |
| 1986 | Tall Tales & Legends | Andrew Jackson | Episode: "Davy Crockett" |
| 1987 | The Golden Girls | Theodore 'Ted' Zbornak | Episode: "Brotherly Love" |
| 1988 | Mathnet | Mike Pliers | Episode: "The Case of the Deceptive Data" |
| 1988 | Square One TV | Mike Pliers | 3 episodes |
| 1988–1989 | Dirty Dancing | Max Kellerman | 11 episodes |
| 1993 | Tales of the City | Booter Manigault | 2 episodes, (final appearance) |