| Year | Title | Role | Notes |
| 1990 | Superboy | John | Episode: "The Sons of Icarus" |
| 1993 | I'll Fly Away | Damon | 2 episodes |
| In the Heat of the Night | Henry Ulmer | Episode: "Hatton's Turn" |
| Clarissa Explains It All | Pepe's Pizza Delivery Man | Episode: "Editor in Chief" |
| 1997–1999 | Kwik Witz | Himself | Syndicated improv |
| 1998 | Oh Yeah! Cartoons | Blotto | Voice, episode: "Blotto" |
| Whose Line Is It Anyway? (UK) | Himself | 3 episodes in Series 10 |
| 1998–2006, 2013–2024 | Whose Line Is It Anyway? (US) | Starring: Seasons 2–7, 9–21; recurring: Seasons 1 & 8Also executive producer (Seasons 9–21) |
| 1999, 2000 | The Drew Carey Show | "Drew Live" and "Drew Live II" (improv episodes) |
| 2000 | Batman Beyond | Micron | Voice, episode: "The Call" |
| Geppetto | Lazardo V The Magician | Television film |
| 2001–2004 | The Wayne Brady Show | Host | Variety show |
| 2002 | Miss America | |
| 2003 | The Electric Piper | Sly | Voice, television film |
| American Dreams | Jackie Wilson | Episode: "The One" |
| 2004 | Chappelle's Show | Himself | 2 episodes |
| Sesame Street | |
| Going to the Mat | Mason Wyatt | Television film |
| Reno 911! | New Jones - Deputy Culufu Garwood | Episode: "Department Investigation: Part 2" |
| 2005 | Stargate SG-1 | Trelak | Episode: "It's Good to be King" |
| Kevin Hill | Pastor Jerry Carver | 2 episodes |
| 2006–2008 | Everybody Hates Chris | Louis | 2 episodes |
| 2006 | Getting Along Famously | Jackie Kinghorn | Episode: "Toucha My Hand" |
| Higglytown Heroes | Doctor | Voice, episode: "A Slippery Situation" |
| Girlfriends | Derek Tyler | 4 episodes |
| Robot Chicken | Pegasus 'Sunny Muffin', Salam Fayyad | Voice, episode: "Adoption's an Option" |
| Shorty McShorts' Shorts | Cameron | Voice, 3 episodes |
| 2006–2014 | How I Met Your Mother | James Stinson | 13 episodes |
| 2007 | 30 Rock | Steven Black | Episode: "The Source Awards" |
| Dirt | Henchman | Episode: "You Don't Know Jack" |
| 2007–2009 | Don't Forget the Lyrics! | Host | |
| 2009–present | Let's Make a Deal | Executive producer (7 episodes) |
| 2010 | WWE Raw | Himself | |
| 2011 | Fast and Loose | UK improv; 2 episodes |
| Are We There Yet? | Devin | Episode: "The Man and the Bragging Snafu Episode" |
| Drew Carey's Improv-A-Ganza | Himself | 5 episodes |
| RuPaul's Drag Race season 3 | Himself/Guest judge | Episode: "RuPaul's Hair Extravaganza" |
| The Fresh Beat Band | Mr. Fondu | Episode: "Pink Swan" |
| 2012–2013 | American Dad! | Cuba Gooding Jr., Tungee | Voice, 3 episodes |
| 2012 | Trust Us with Your Life | Himself | 7 episodes |
| Psych | Hilton Fox | Episode: "Shawn and the Real Girl" |
| Key & Peele | Centipede Buddy | Episode |
| 2012–2018 | Sofia the First | Clover | Voice, main role |
| 2013 | The Problem Solverz | Uncle Chocofuss | Voice, episode: "Alfe Has a Baby" |
| So You Think You Can Dance | Himself/Guest judge | 2 episodes |
| Baby Daddy | Chase Baxter | Episode: "There's Something Fitchy Going On" |
| 2013–2014 | Phineas and Ferb | Don the City Hall Tour Guide / various | Voice, 2 episodes |
| 2013–2016 | Real Husbands of Hollywood | Himself | 9 episodes |
| 2014 | Hollywood Game Night | Episode: "50 Charades of Grey" |
