| Year | Title | Role | Notes |
| 1964 | Kraft Suspense Theatre | Denny Wentworth | Episode: "A Lion Amongst Men" |
| 1964–1965 | Broadside | Various | 4 episodes |
| 1964–1966 | Bob Hope Presents the Chrysler Theatre | Lt. Brown / New Flier / John | 3 episodes |
| 1965 | Convoy | | Episode: "Sink U-116!" |
| 1965–1969 | The Virginian | Various | 4 episodes |
| 1966 | Run for Your Life | Allan Frazer | Episode: "The Cruel Fountain" |
| Pistols 'n' Petticoats | Boy Bunnoy | Episode: "Sir Richard of Wretched" |
| 1967 | Lost in Space | Craig | Episode: "Visit to a Hostile Planet" |
| Death Valley Days | Sailor | Episode: "Shanghai Kelly's Birthday Party" |
| The Lucy Show | Steve Josephs | Episode: "Lucy Gets Her Diploma" |
| 1968–1973 | Gunsmoke | Various | 4 episodes |
| 1969 | The Guns of Will Sonnett | Kit Torrey | Episode: "Join the Army" |
| The Wild Wild West | Lieutenant Murray | Episode: "The Night of the Pistoleros" |
| Bonanza | Steed Butler | Episode: "The Running Man" |
| 1969–1971 | Medical Center | Jimmy Cole / Tod Marriott | 2 episodes |
| 1970 | The High Chaparral | Lt. Jason Adams | Episode: "The Lieutenant" |
| Mannix | Eric Beckworth / Mike Gaynor | Episode: "The Search for Darrell Andrews" |
| The Brotherhood of the Bell | Phillip Dunning | TV movie |
| 1971 | The Silent Force | Johnny Davis | 2 episodes |
| Incident in San Francisco | | TV movie |
| Dan August | Lt. Pete O'Connell | Episode: "Bullet for a Hero" |
| 1972 | The Mod Squad | Jay Turner ("Yesterday's Ashes") / Ernie Holland ("No More Oak Leaves for Ernie Holland") | 2 episodes |
| The Wonderful World of Disney | Lt. Larson | Episode: "The High Flying Spy: Part 1" |
| 1972–1973 | Love, American Style | Jim (segment "Love and the Big Top") / Mac Gelman (segment "Love and the Girlish Groom") | 2 episodes |
| 1972–1974 | The F.B.I. | Vaughn Teller / Doug Waters | 2 episodes |
| 1972–1976 | Cannon | Sheriff Jeff Blake / Paul Wilson / Dep. Sheriff Ward Freeman | 3 episodes |
| 1973 | Incident on a Dark Street | Paul Hamilton Jr | TV movie |
| 1973–1977 | Barnaby Jones | Jim Rhodes / Bradley Fredericks / Catlin | 3 episodes |
| 1974 | The Manhunter | Charles Wyland | Episode: "The Deadly Brothers" |
| 1976 | Bert D'Angelo/Superstar | Inspector Larry Johnson | 6 episodes |
| 1976–1977 | Charlie's Angels | Andy Price / Dr. Conlan | 2 episodes |
| 1977 | The Bob Newhart Show | Mel | Episode: "Desperate Sessions" |
| Tales of the Unexpected | Lieutenant Stevens | Episode: "No Way Out" |
| 1977–1983 | CHiPs | Sgt. Joseph Getraer | 139 episodes |
| 1979 | Lou Grant | Burt | Episode: "Denial" |
| 1980 | Enola Gay: The Men, the Mission, the Atomic Bomb | Captain William 'Deke' Parsons | TV movie |
| Dan August: Murder, My Friend | Lt. Pete O'Connell | TV movie edited from two episodes, including "Bullet for a Hero" |
| 1982 | Mysterious Two | Arnold Brown | TV movie |
| Insight | Brad | Episode: "Matchpoint" |
| The Love Boat | Reverend David Ruland | Episode: "The Man in the Iron Shorts/The Victims/Heavens to Betsy" |
| 1983 | Lottery! | | Episode: "Kansas City: Protected Winner" |
| Hotel | Paul Manning | Episode: "Christmas" |
| 1983–1988 | Magnum, P.I. | Lieutenant Thomas Sullivan Magnum III | 3 episodes |
| 1984 | The Master | Beaumont | Episode: "Fat Tuesday" |
| Scarecrow and Mrs. King | Sinclair | Episode: "Brunettes Are In" |
| Family Ties | Dean Ian McCall | Episode: "Karen II, Alex 0" |
| 1985 | Crazy Like a Fox | | Episode: "Premium for Murder" |
| Knight Rider | Cyrus Oakes | Episode: "Burial Ground" |
| 1986 | Dallas | Psychiatrist | Episode: "Dire Straits" |