| Year | Title | Role | Notes |
| 1990 | China Beach | Kravits | Episode: "One Small Step" |
| 1992 | Murphy Brown | Robbie | Episode: "He-Ho, He-Ho, It's Off to Lamaze We Go" |
| Middle Ages | Jimmy | Episode: "The Pig in the Python" & "Night Moves" |
| 1993 | The Fresh Prince of Bel-Air | Mike | Episode: "Where There's a Will, There's a Way: Part 1" |
| NYPD Blue | Jaime Dileo | Episode: "Brown Appetit" |
| 1997 | Subway Stories | Jake | Episode: "The Listeners" |
| 1998 | ER | Paul Canterna | Episode: "Of Past Regret and Future Fear" |
| Rude Awakening | Johnny | Episode: "Naked Again" |
| Rescuers: Stories of Courage: Two Families | Szarany | TV movie |
| 1999 | Friends | Gary | Recurring cast (season 5) |
| 2001 | Weakest Link | Himself | Episode: "Disaster Benefit" |
| Celebrity Adventures | Himself | Episode: "Belize" |
| Night Visions | Harlow Winton | Episode: "Darkness" |
| 2001–2004 | Boston Public | Danny Hanson | Main cast (season 2–4) |
| 2003 | Chappelle's Show | Popcopy Employee | Episode: "Popcopy & Clayton Bigsby" |
| 2005–2007 | The War at Home | David "Dave" Gold | Main cast |
| 2006 | Thugaboo: Sneaker Madness | DJ (voice) | TV movie |
| 2006–2007 | MadTV | Clark Gable/Abraham Lincoln | 2 episodes |
| 2007–2008 | My Name Is Earl | Frank Stump | Recurring cast (season 3) |
| 2008–2009 | Prison Break | Agent Donald "Don" Self | Main cast (season 4) |
| 2009–2010 | Accidentally on Purpose | Sully | Episode: "The Godfather" & "The Rock" |
| 2010 | 30 for 30 | Himself | Episode: "Winning Time: Reggie Miller vs. The New York Knicks" |
| Celebrity Ghost Stories | Himself | Episode: "Rebecca DeMornay/Michael Rapaport/Margaret Cho" |
| Royal Pains | Stanley | Episode: "Big Whoop" |
| The Line | Steve Waxman | TV movie |
| 2010–2013 | Pound Puppies | Squirt (voice) | Main cast |
| 2012–2013 | The Mob Doctor | Paul Moretti | Recurring cast |
| 2013 | The Haunting of... | Himself | Episode: "Michael Rapaport" |
| 2014 | Raising Hope | Michael | Episode: "Man's Best Friend" |
| Justified | Daryl Crowe Jr. | Recurring cast (season 5) |
| 2015 | Black-ish | Jay Simmons | Episode: "Switch Hitting" |
| Louie | Lenny | Episode: "Cop Story" |
| Public Morals | Officer Charlie Bullman | Main cast |
| The Big Bang Theory | Kenny Fitzgerald | Episode: "The Helium Insufficiency" |
| 2016 | Law & Order: Special Victims Unit | Richie Caskey | Episode: "Sheltered Outcasts" |
| Dice | Bobby the Mooch | Episode: "Six Grand" |
| Crisis in Six Scenes | Trooper Mike | Episode |
| 2017 | The $100,000 Pyramid | Himself | Episode: "Richard Kind vs. Rachel Dratch and Margaret Cho vs. Michael Rapaport" |
| The New Edition Story | Gary Evans | Episode: "Part 1-3" |
| Animals. | Erik (voice) | Episode: "Rats" |
| White Famous | Teddy Snow | Recurring cast |
| 2017–2018 | The Guest Book | Adam | Recurring cast (season 1), guest (season 2) |
| 2017–2021 | Atypical | Doug Gardner | Main cast |
| 2018 | Hip Hop Squares | Himself/Panelist | Episode: "Blac Chyna vs. Jeremy Meeks" & "Yvonne Orji vs. Keith Powers" |
| Ridiculousness | Himself | Episode: "Michael Rapaport" |
| 2019–2023 | The Simpsons | Mike Wegman (voice) | Guest cast (season 31 & 33–34) |
| 2020 | Sneakerheads | Himself | Episode: "The Match" |
| Yo Mama | Himself | Episode: "I PAID Celebs $3,000 for YO MAMA JOKES" |
| Cooked with Cannabis | Himself | Episode: "High Holidays" |
