| Year | Title | Role | Notes |
| 1996 | New York Undercover | Stephon | Episode: "No Greater Love" |
| Law & Order | Sky Bell | Episode: "Good Girl" |
| 1997 | Guiding Light | Adrian "Sugar" Hill | Unknown episodes |
| 101 Dalmatians: The Series | Dre (voice) | Episode: "He Followed Me Home" |
| 2001 | Ally McBeal | Jackson Duper | 10 episodesNominated—NAACP Image Award for Outstanding Supporting Actor in a Comedy Series |
| 2003 | Punk'd | Himself | Episode: "2.5" |
| Ed | Episode: "Captain Lucidity" |
| The West Wing | Secret Service Agent Wesley Davis | 2 episodes |
| 2004 | America's Next Top Model | Himself | Episode: "The Girls Meet Taye Diggs" |
| 2004–2005 | Kevin Hill | Kevin Hill | 22 episodes and also producerNAACP Image Award for Outstanding Actor in a Drama Series |
| 2006 | Will & Grace | James | 4 episodes |
| 2006–2007 | Day Break | Detective Brett Hopper | 13 episodes and also producer |
| 2007–2009 | Grey's Anatomy | Dr. Sam Bennett | 3 episodes |
| 2007–2013 | Private Practice | 111 episodesNAACP Image Award for Outstanding Supporting Actor in a Drama SeriesNominated—NAACP Image Award for Outstanding Actor in a Drama Series (2010, 2012)Nominated—NAACP Image Award for Outstanding Supporting Actor in a Drama SeriesNominated—People's Choice Award for Favorite TV Drama Actor |
| 2009 | The Super Hero Squad Show | Black Panther (voice) | Episode: "Tremble at the Might of M.O.D.O.K.!" |
| Better Off Ted | Greg | Episode: "Love Blurts" |
| 2010 | Black Panther | Historical Panther (voice) | Episode: "Pilot" |
| 2010, 2014 | Sesame Street | Himself | 2 episodes |
| 2013 | New Girl | Artie | Episode: "Coach" |
| 2014–2016 | Murder in the First | Inspector Terrance English | 32 episodesNominated—NAACP Image Award for Outstanding Actor in a Drama SeriesNominated—People's Choice Award for Favorite Cable TV Actor |
| 2014 | The Good Wife | Dean Levine-Wilkins | 3 episodes |
| 2015 | Repeat After Me | Himself | Episode: "#1.8" |
| 2015–2017 | Doc McStuffins | Declan (voice) | 2 episodes |
| 2015–2016 | Rosewood | Mike Boyce | 3 episodes |
| 2016 | NCIS | USMC Gunnery Sergeant Aaron Davis | Episode: "Scope" |
| 2016–2017 | Empire | Councilman Angelo DuBois | 23 episodes |
| 2017, 2018 | Lip Sync Battle | Himself | 2 episodes |
| 2018–2024 | All American | Head Coach Billy Baker | Main cast |
| 2019 | Rent: Live | Himself | Television special |
| Selling Sunset | Episode: "(Real) Diamonds Are a Girl's Best Friend" |
| Hypnotize Me | 8 episodes |
| Elena of Avalor | Sanza (voice) | Episode: "Flower of Light" |
| 2020 | Celebrity Ghost Stories | Himself | Episode: "Taye Diggs" |
| Muppets Now | 6 episodes |
| 2021 | The Celebrity Dating Game | Episode: "Taye Diggs and Demi Burnett" |
| Ada Twist, Scientist | Mr. Twist (voice) | 6 episodes |
| 2022 | The Best Man: The Final Chapters | Harper Stewart | Main cast |
| Back in the Groove | Himself | Host8 episodes |
| 2023 | S.W.A.T. | Danny | Episode: "All That Glitters" |
| Love & Murder: Atlanta Playboy | Lance Herndon | 2 episodes |
| 2024 | Alert: Missing Persons Unit | Himself | Episode: "Federal Prisoner " |
| Ariel | King Triton (voice) | Main role |
| Terry McMillian Presents: Forever | Johniee | Also executive producer |
| 2025 | RoboGobo | Pupsicle (voice) | 9 episodes |
| 2025 | I'll Be Home for Margarita Day | Sam | Television short |
