| Year | Title | Role | Notes |
| 1987 | Unsolved Mysteries | Terry Conner | 1 episode |
| 1988 | Bonanza: The Next Generation | Cease | Television film |
| 1989 | Oklahoma Passage | Quantrill | Miniseries, 1 episode |
| 1990 | The Young Riders | Sheriff | 1 episode |
| 1990 | Cop Rock | Deputy / Officer Cerruto | 2 episodes |
| 1991 | Northern Exposure | Martin | 1 episode |
| 1991 | Doogie Howser, M.D. | Billy | 1 episode |
| 1991 | Guns of Paradise | Grant Page | 1 episode "Unfinished Business" |
| 1991 | The Gambler Returns: The Luck of the Draw | Henry | Television film |
| 1992 | FBI: The Untold Stories | Christopher Wilder | 1 episode |
| 1994 | The Adventures of Brisco County, Jr. | Mountain McClain | 1 episode |
| 1996–1997 | 3rd Rock from the Sun | Chuck / Webber | 2 episodes |
| 1997 | Nash Bridges | Alan Tully | 1 Episode |
| 1995–2000 | JAG | Submarine Skipper, Lt. Mark "Falcon" Sokol | 1 episode, recurring 5 episodes |
| 1998 | Vengeance Unlimited | J.J. | 1 episode |
| 1999 | The Jack Bull | Shelby Dykes | Television film |
| 1999 | Walker, Texas Ranger | Lester Stahl / Sheriff Leland Stahl | 1 episode |
| 1999 | Y2K | Nuclear Plant Foreman | Television film |
| 1999 | Snoops | Jasper | 1 episode |
| 2000 | The Pretender | Agent Ellis Talbot | 1 episode |
| Profiler |
| 2000–2001 | The Fugitive | Karl Vasick | Recurring role, 5 episodes |
| 2001 | Crossfire Trail | Luke Taggart | Television film |
| 2002–2012 | CSI: Miami | Sgt. Frank Tripp | Main role, 187 episodes |
| 2007 | Saving Grace | Wiley | 1 episode |
| 2008 | Trial by Fire | Chief Bill Berry | Television film |
| 2014 | The Lottery | General Alan Langdon | Recurring role, 6 episodes |
| 2015 | State of Affairs | Senator Burke | 4 episodes |
| 2015 | Key & Peele | Detective | 1 episode |
| 2015 | The Brink | Rear Admiral McBride | 4 episodes |
| 2015–2016 | Nashville | Bill Lexington | 3 episodes |
| 2016–2022 | Better Call Saul | Kevin Wachtell | Recurring role, 13 episodes |
| 2016 | The Ranch | Coach Shaw | 1 episode |
| 2017–2018 | Lethal Weapon | Nathan Riggs | Recurring role, 12 episodes |
| 2017–2024 | Young Sheldon | Principal Tom Petersen | Recurring role, 26 episodes |
| 2018 | Waco | Dick DeGuerin | Miniseries, 1 episode |
| 2018 | The Kominsky Method | Ed | 1 episode |
| 2019 | The L Word: Generation Q | Jeff Milner | 2 episodes |
| 2022 | Roar | Sheriff | 1 episode |
| 2022–2023 | Big Sky | Buck Barnes | Recurring role, 13 episodes |
| 2023 | Reba McEntire's The Hammer | Bart Crawford | Television film |
| 2024–2025 | Happy's Place | Emmett | Main role |