| Year | Title | Role | Notes |
| 1985–1988 | The Equalizer | Harmon Hunter | Episode: "Lady Cop" |
| Arthur Williams | Episode: "Sea of Fire" |
| 1988 | 227 | The Santa Thief | Episode: "The Night They Arrested Santa Claus" |
| 1989 | Perfect Strangers | Carl Winslow | Episode: "Crimebusters" |
| 1989–1998 | Family Matters | Main role, 215 episodes |
| 1992 | Tales from the Crypt | Hotel Guest | Episode: "Werewolf Concerto" |
| 1993 | Dream On | Santa | Episode: "Silent Night, Holy Cow" |
| 1994 | A Cool Like That Christmas[citation needed] | Dad (voice) | Television movie |
| One of Her Own | Det. Bob Hymes | Television movie |
| 1996 | Deadly Pursuits | Ed Conroy | Television movie |
| 1998 | Diagnosis: Murder | Dr. David Sinclair | Episode: "The Last Resort" |
| 1999 | The Hughleys | Rev. Bennett | Episode: "Daddy's Going to Hell" |
| 2000 | Twice in a Lifetime | Dr. David Bryant | Episode: "Whistle Blower" |
| 2001 | The Fugitive | Maurice Beaumont | Episode: "Lagniappe" |
| CSI: Crime Scene Investigation | Dr. Phillip Kane | Episodes: "Face Lift" and "Gentle, Gentle" |
| 2002 | Crossing Jordan | Mr. Holden | Episode: "Someone to Count On" |
| Will & Grace | Dr. Kaplan | Episode: "It's the Gay Pumpkin, Charlie Brown" |
| 2003 | The Parkers | Sterling Oglevee | Episode: "A Sterling Relationship" |
| 2005 | That's So Raven | Dikembe, The Ambassador | Episode: "The Royal Treatment" |
| Ghost Whisperer | Danny Small | Episode: "Undead Comic" |
| 2006 | Eve | Rev. Everett | Episode: "Oh, Brother" |
| Monk | Todd | Episode: "Mr. Monk and the Class Reunion" |
| 2007 | On the Lot | Neighbor in 'Time Upon a Once' | Episode: "11 Cut to 10 & 10 Directors Complete" |
| Bones | Dale Owens | Episode: "The Santa in the Slush" |
| 2008 | Chuck | Sgt. Al Powell | Episode: "Chuck Versus Santa Claus" |
| 2009 | The Three Gifts[citation needed] | Rodney Smith | Television movie |
| Family Guy | Sgt. Al Powell | Episode: "Brian's Got a Brand New Bag" |
| 2009–2011 | I'm in the Band | Principal/Superintendent Cornelius Strickland | Recurring role |
| 2010 | Funny or Die Presents | Christopher | Episode: "Just 3 Boyz" |
| The Bold and the Beautiful | Ed | 2 episodes |
| Meet the Browns | Ernie Wilson | Episode: "Meet the Baby Daddy" |
| Glory Daze | Stan Turley | Episode: "Papa Don't Pre-Game" |
| 2010–2013 | Mike & Molly | Brother Heywood | 6 episodes |
| 2011 | Imagination Movers | Bernie | Episode: "The Idea Cafe" |
| 2011–2015 | Hart of Dixie | Dash DeWitt | Recurring role |
| 2012–2013 | Tron: Uprising | Able | Recurring role |
| 2012 | General Hospital | Reverend Love | Episode |
| Childrens Hospital | Judge Lester Harrison | Episode: "Children Lawspital" |
| The Mistle-Tones | Holly's dad | Television movie |
| 2013 | Real Husbands of Hollywood | Himself | Episode: "Tisha and Duane" |
| 2015 | Clipped | Tommy | 5 episodes |
| The Flight Before Christmas | Joe | Television moviePlayed husband of "Marie" (Jo Marie Payton, who also played Reginald's wife on Family Matters) |
| 2016 | It's Always Sunny in Philadelphia | Judge Melvoy | Episode: "McPoyle vs. Ponderosa: The Trial of the Century" |
| Hitting the Breaks | Chauncey van Delaware | 5 episodes |
| Girl Meets World | Officer James | Episode: "Girl Meets True Maya" |
| Ray Donovan | Sherman Radley | Episode: "Norman Saves the World" |
| 2017 | Penn Zero: Part-Time Hero | Mr. Flannigan (voice) | Episode: "My Mischievous Son" |
| Ryan Hansen Solves Crimes on Television | Captain Jackson | Episode: "Escape Room Escapades" |
| 2018 | Brooklyn Nine-Nine | Himself | Episode: "Bachelor/ette Party" |