| Year | Title | Role | Notes |
| 2000 | Curb Your Enthusiasm | Male Parking Attendant | Episode: "Interior Decorator" |
| 2001 | Grounded for Life | Security Guard | Episode: "I Wanna Be Suspended" |
| 2002–2003 | Malcolm in the Middle | Ranch Hand | 2 episodes |
| 2003 | Still Standing | Tim | Episode: "Still Hairdressing" |
| Reno 911! | Captain Dwayne Hernandez | 2 episodes |
| 24 | Pilot | Episode: "Day 3: 6:00 p.m. - 7:00 p.m." |
| 2005–2013 | The Office | Oscar Martínez | Main cast; 189 episodes |
| 2006 | Reno 911! | "Spanish Mike" Alvarez | Episode: "Spanish Mike Returns" |
| 2007 | Halfway Home | Eulogio Pla | 10 episodes |
| 2010 | Fred: The Movie | Lorenzo | Television film |
| 2011–2012 | Bob's Burgers | Cha-Cha / Pepe (voice) | 2 episodes |
| 2013 | Prosecuting Casey Anthony | Jose Baez | Television film |
| Family Tree | Discount Car Rental Agent | Episode: "Indians" |
| It's Always Sunny in Philadelphia | Sudz Manager | Episode: "The Gang Tries Desperately to Win an Award" |
| 2014 | New Girl | Doug | Episode: "Cruise" |
| Bad Teacher | Louis | Episode: "Life Science" |
| Benched | Carlos | 12 episodes |
| 2015 | Comedy Bang! Bang! | FBI Agent José González | Episode: "Maya Rudolph Wears a Black Skirt & Strappy Sandals" |
| Adam Ruins Everything | Benny | Episode: "Adam Ruins Work" |
| Romantically Speaking | Carl | Television film |
| 2015–2019 | Life in Pieces | Dr. James Changa | 2 episodes |
| 2016 | Brooklyn Nine-Nine | Dr. Porp | Episode: "9 Days" |
| iZombie | Stan Mendoza | Episode: "Eternal Sunshine of the Caffeinated Mind" |
| Mutt & Stuff | Claude Puppe | Episode: "Lights! Camera! Bark!" |
| Shameless | Rick Encarnacion | 2 episodes |
| Bad Internet | Jim | Episode: "Your Search History Revealed" |
| Boondoggle | Eduardo | Episode: "The Course" |
| Uncle Buck | Hector | Episode: "The Interrogation" |
| Liv and Maddie | Mr. Beelick | Episode: "Sorta-Sisters-A-Rooney" |
| 2016–2017 | People of Earth | Father Doug | 15 episodes |
| 2018 | American Housewife | Rupert the Cop | Episode: "Midlife Crisis" |
| 9-1-1 | Guillermo | Episode: "Point of Origin" |
| Worst Cooks in America: Celebrity Edition | Himself | 5 episodes (season 13) |
| 2018–2019 | 3Below: Tales of Arcadia | Sergeant Costas (voice) | 9 episodes |
| 2019 | Those Who Can't | Johnson | Episode: "Yes We Scan" |
| NCIS: Los Angeles | Lionel Fernandez | Episode: "No More Secrets" |
| Where's Waldo? | Wizard Featherbeard (voice) | Episode: "Costa Rica... In Color!" |
| 2019–2020 | Mr. Iglesias | Assistant-Principal Carlos Hernandez | 18 episodes |
| 2020 | Home Movie: The Princess Bride | Inigo Montoya | Episode: "Chapter Three: The Cliffs of Insanity" |
| Social Distance | Miguel Villareal | Episode: "A Celebration of the Human Life Cycle" |
| The Goldbergs | Ted | Episode: "Airplane!" |
| 2021 | No Activity | (voice) | Episode: "It's Not a Cult!" |
| Zoey's Extraordinary Playlist | Dr. Tesoro | 3 episodes |
| 2022 | The G Word with Adam Conover | Various | 3 episodes |
| Out of Office | X Fernandez | TV movie |
| 2022–present | Firebuds | Chef Fernando (voice) | 12 episodes |
| 2023 | Lucky Hank | Dean Jacob Rose | 6 episodes |
| 2024 | Solar Opposites | Oscar (voice) | 1 episode |
| 2025–present | The Paper | Oscar Martinez | Main role |
