| Year | Title | Role | Notes |
| 1956 | Cheyenne | Cavalry trooper (Uncredited) | Season 1, Episode 7: "Decision" |
| The Adventures of Jim Bowie | Jerome Juventin | Season 1, Episode 4: "Deputy Sheriff" |
| 1957 | General Electric Theater | Claude Duncan | Season 5, Episode 27: "Too Good with a Gun" |
| General Electric Theater | Dixon | Season 5, Episode 30: "The Bitter Choice" |
| The Restless Gun | Sandy | Pilot episode |
| Tales of Wells Fargo | Tad Cameron | Season 1, Episode 6: "Shotgun Messenger" |
| Tales of Wells Fargo | Jackson | Season 1, Episode 10: "Sam Bass" |
| Tales of Wells Fargo | Tad Cameron | Season 2, Episode 11: "The Kid" |
| 1958 | The Texan | Nick Ahearn | Season 1, Episode 8: "The Hemp Tree" |
| Tombstone Territory | Barton Clark Jr. | Season 1, Episode 39: "Rose of the Rio Bravo" |
| Cheyenne | Alan Horn / 'White Hawk' | Season 3, Episode 13: "White Warrior" |
| Wanted Dead or Alive | Carl Martin | Season 1, Episode 1: "The Martin Poster" |
| The Rifleman | Will Fulton | Season 1, Episode 3: "End of a Young Gun" |
| 1959 | The Rifleman | Billy Mathis | Season 1, Episode 40: "The Mind Reader" |
| Wanted Dead or Alive | Clay McGarrett | Season 1, Episode 27: "The Legend" |
| Tombstone Territory | Chris Anderson | Season 2, Episode 7: "The Man from Brewster" |
| 1959–1973 | Bonanza | Joseph 'Little Joe' Cartwright | 430 episodes |
| 1974–1983 | Little House on the Prairie | Charles Ingalls / Narrator | 187 episodes |
| 1984–1989 | Highway to Heaven | Jonathan Smith | 111 episodes |
| 1990 | Where Pigeons Go to Die | Hugh at 50 | Television film; also director |
| 1991 | Us | Jeff Hayes | Television film; also director and writer |