| Year | Title | Role | Notes |
| 1974 | The Michele Lee Show | Dr. Steven Mayhill | Television pilot |
| 1975 | The Waltons | Todd Clarke | Episode: "The Abdication" |
| 1976 | Brink's: The Great Robbery | Agent Donald Nash | Television film |
| 1977 | The Rhinemann Exchange | David Spaulding | Miniseries |
| 1978 | Charlie's Angels | Steve Carmody | Episode: "Angel Come Home" |
| 1980 | The Henderson Monster | Pete Casimir | Television film |
| 1981 | Great Performances | Morton Fullerton | Episode: "Edith Wharton: Looking Back" |
| Summer Solstice | Young Joshua Turner | Television film |
| 1982 | Inside the Third Reich | Karl Hanke |
| Tales of the Gold Monkey | Jake Cutter | Main role |
| 1983 | Chiefs | Billy Lee | Miniseries |
| 1984 | Threesome | Peter Hatten | Television film |
| Dark Mirror | Jim Eiseley |
| 1985 | The Hitchhiker | Todd Fields | Episode: "And If We Dream" |
| 1986 | Hold the Dream | Shane O'Neil | Miniseries |
| 1987 | The Two Mrs. Grenvilles | Billy Grenville Jr. |
| 1988 | Weekend War | Captain John Deason | Television film |
| Tattingers | Nick Tattinger | Main role |
| 1990 | Working It Out | David Stuart |
| 1991 | A Woman Named Jackie | John F. Kennedy | Miniseries |
| 1992 | A Woman Scorned: The Betty Broderick Story | Dan Broderick | Television film |
| Her Final Fury: Betty Broderick, The Last Chapter |
| 1993 | Remember | Clee Donovan |
| The Disappearance of Nora | Jack Fremont |
| 1994 | Scarlett | Ashley Wilkes | Miniseries |
| 1995 | A Family Divided | Roger Billingsley | Television film |
| Sisters | Gabriel 'Gabe' Sorenson | Recurring |
| 1996 | On Seventh Avenue | Tom Aiken | Television film |
| The Babysitter's Seduction | Bill Bartrand |
| An Unexpected Family | Sam |
| 1996–2007 | 7th Heaven | Rev. Eric Camden | Main role; directed 3 episodes |
| 1998 | An Unexpected Life | Sam | Television film |
| 1999 | As Time Runs Out | Dan Carlin |
| Batman Beyond | Tony Maychek/Earthmover | Voice, episode: "Earth Mover" |
| 2001 | Jumping Ship | Gardener | Television film |
| 2002 | State of Grace | Norris Sinclair | Episode: "Sophisticated Ladies" |
| 2005 | Celebrity Poker Showdown | Himself | Qualified for the first tournament |
| 2006–2007 | It's Always Sunny in Philadelphia | Bruce Mathis | 2 episodes |
| 2008 | Law & Order: Special Victims Unit | Pierson Bartlett | Episode: "Trade" |
| Every Second Counts | Joe Preston | Television film |
| 2009–2011 | Private Practice | The Captain | 4 episodes |
| 2010 | No Ordinary Family | Dayton King | Main role |
| Brothers & Sisters | Charlie | Episode: "A Righteous Kiss" |
| 2011 | The Office | Walter Bernard | Episode: "Garden Party" |
| 2013 | Falling Skies | President Benjamin Hathaway | 2 episodes |
| Scandal | Reed Wallace | Episode: "Happy Birthday, Mr. President" |
| The Fosters | Rev. Adams | Episode: "I Do" |
| Devious Maids | Philippe Delatour | 6 episodes |
| Revolution | Gene Porter | Main role |
