| Year | Title | Role | Notes | Ref. |
| 1969 | Medical Center | Andy Tobin | Episode: "Thousands and Thousands of Miles" | |
| Mr. Deeds Goes to Town | Unknown role | 1 episode |
| 1971 | The Impatient Heart | Frank Pescadero | Television film |
| 1972 | Owen Marshall, Counsellor at Law | Pete Giannetta | Episode: "Journey Through Limbo" |
| Love American Style | Leonard | 1 episode |
| 1973 | Love Story | Gary Stone | Episode: "Love Came Laughing" |
| 1974 | Medical Center | Dr. Lensko | Episode: "Web of Intrigue" |
| 1975 | Police Surgeon | Brian Lewis | Episode: "Insight to Murder" |
| Police Story | Mike Ripley | Episode: "A Community of Victims" |
| 1976 | Scott Free | Tony Scott | Television film |
| 1977 | Red Alert | Carl Wyche | Television film |
| 1978 | The Comedy Company | Paul Lester | Television film |
| 1980 | A Perfect Match | Steve Triandos | Television film |
| 1982 | Between Two Brothers | Lead | Television film |
| 1983 | St. Elsewhere | Tony Gifford | Episode: "AIDS & Comfort" |
| 1983–84 | Emerald Point N.A.S. | David Marquette | 11 episodes |
| 1984 | The Seduction of Gina | Keith Sindell | Television film |
| 1985–86 | Dempsey and Makepeace | Lt. James Dempsey | 30 episodes |
| 1987 | Screen Two | Eddie | Episode: "Visitors" |
| 1988 | Tales of the Unexpected | Stephen Baker | Episode: "The Finger of Suspicion" |
| The Magical World of Disney | Jeff Robins | Episode "Rock and Roll Mom" |
| 1991 | Dynasty: The Reunion | Arlen Marshall | 2 episodes |
| 1992 | Home Fires | Ted Kramer | 6 episodes |
| 1994 | Shattering the Silence | Ted Ricci | Episode: "Not in My Family" |
| 1994 | Murder, She Wrote | Alex Weaver | Episode: "Proof in the Pudding" |
| 1996 | Gone in a Night | David Protess | Television film |
| 1997 | The Knock | Greg Taylor | Mini-series |
| 1998 | Dark Realm | Bristol | Episode: "Murder One" |
| J.A.G. | Nardoni, Col.Hegstetter | 2 episodes |
| The Nanny | Stan | Episode: "The Nanny & the Hunk Producer" |
| Ally McBeal | Dawson | Episode: "The Inmates" |
| 1999 | CI5: The New Professionals | Dr. Woods | Episode: "Skorpion" |
| Jonathan Creek | Capt. Frank Candy | Episode: "The Omega Man" |
| The Practice | Dawson | 2 episodes |
| 2001 | The Division | Judge Stone | Episode: "Deal with the Devil" |
| 2002 | Dinotopia | Frank Scott | 8 episodes |
| 2003 | Ed Stone Is Dead | Dad | 1 episode |
| 2004–2012 | Thomas & Friends | Narrator (Series 6 (redub), 7–16), Diesel (Series 13–16), Mr. Bubbles (Series 13–15) (voices) | US dub; 239 episodes |
| 2004 | The Catherine Tate Show | Various | Episode: "Car Party" |
| 2005 | Dead Man Weds | Chuck Newman | 6 episodes |
| 2006 | Miss Marple | Martin Zimmerman | Episode: "The Sittaford Mystery" |
| The Catherine Tate Show | Robert | Episode: "Large Breasted Doctor" |
| Trial & Retribution | Max Stanford | Episode: "XI: Closure" |
| 2006-2008 | Jack and the Sodor Construction Company | US Narrator | 13 episodes; Spin off |
| 2007 | Casualty | Mike Barnicott | Episode: "Inheritance" |
| The Bill | Louis Dreyfuss | 4 episodes |
| 2008 | Bewitched | Rex | 1 episode |
| Doctor Who | General Sanchez | Episode: "The Stolen Earth" |
| 2009 | After You've Gone | Bill Tucker | Episode: "There Will Be Pud" |
