| Year | Film | Role | Notes |
| 2000 | Law & Order | Private Nelson | Episode: "Vaya Con Dios" |
| Madigan Men | Runner | Episode: "Love and Dermatology" |
| 2001 | Soul Food | Steve | Episode: "Little Girl Blue" |
| 2002–03 | ER | Rick Kendrick | Recurring role (season 9) |
| 2005–06 | Sleeper Cell | Darwyn al-Sayeed | Main cast |
| 2009 | Hawthorne | Dr. Alan Phillips | Episode: "The Sense of Belonging" |
| 2009–10 | FlashForward | CIA Agent Marshall Vogel | Recurring cast |
| 2010–11 | The Good Wife | Derrick Bond | Recurring role (season 2) |
| 2011 | Californication | Ben | Recurring role (season 4) |
| 2012 | Common Law | Travis Marks | Main cast |
| 2013–14 | Almost Human | Dorian | Main cast |
| 2014–16 | Celebrity Name Game | Himself/Celebrity Player | Recurring Celebrity Player (seasons 1–2) |
| 2014–19 | Hollywood Game Night | Himself/Celebrity Player | Guest Celebrity Player (seasons 2, 4 & 6) |
| 2015 | The Following | Theo Noble | Main cast (season 3) |
| 2016 | Barbarians Rising | Narrator (voice) | Main cast |
| Secrets and Lies | Eric Warner | Main cast (season 2) |
| 2017 | Hip Hop Squares | Himself | Guest (season 3); recurring (season 4) |
| 2018 | Match Game | Himself/Celebrity Panelist | Episode: "Episode " |
| 2017–19 | Being Mary Jane | Justin Talbot | Recurring role (season 4); guest (season 5) |
| 2019 | Stumptown | Detective Miles Hoffman | Main cast |
| 2020 | Westworld | Jake Reed | Recurring role (season 3) |
| Sherman's Showcase | Himself | Episode: "Black History Month Spectacular" |
| 2020–21 | To Tell the Truth | Himself | Panelist (seasons 5–6) |
| 2021 | Celebrity Game Face | Himself | Episode: "Caught in the Act of Mouthing Off" |
| 2022 | The $100,000 Pyramid | Himself/Celebrity Player | Episode: "Episode " |
| The Woman in the House Across the Street from the Girl in the Window | Douglas | Main cast |
| Bel-Air | Reid Broderick | Recurring role (season 1) |
| A Black Lady Sketch Show | Supreme Rameek | Episode: "Save My Edges, I'm a Donor!" |
| 2022–24 | Reasonable Doubt | Damon Cooke | Main cast (season 1); guest (season 2) |
| 2023 | The Afterparty | Quentin Devereaux | Episode: "Danner's Fire" |
| 2024 | Is It Cake? | Himself/Judge | Episode: "Knock Knock...Cake Service!" |
| Power Book II: Ghost | Detective Don Carter | Main cast (season 4) |
| 2025 | The Terminal List: Dark Wolf | Ish | Episode: "What's Past is Prologue" |
