| Year | Title | Role | Notes |
| 1959 | Odds Against Tomorrow | Soldier In Bar | |
| 1959 | Gunsmoke | Tom | Season 5 Episode 14: "False Witness" |
| 1960 | Death Valley Days | George Schmidtlein | Season 8 Episode 36: "Mission to the Mountains" |
| 1960 | The Millionaire | Allan Merrick | Season 6 Episode 17: "The Story of Sylvia Merrick" |
| 1960 | Wanted Dead or Alive | Ash Langford | Season 2 Episode 18: "Angela |
| 1960 | Stagecoach West | Luke Perry | Main cast; 38 Episodes |
| 1962 | Alfred Hitchcock Presents | Kenneth | Season 7 Episode 37: "The Big Kick" |
| 1962 | Gunsmoke | Brack | Season 7 Episode 17: "Cody's Code" |
| 1963 | Have Gun – Will Travel | Daniel | Season 6 Episode 19: "The Debutante" |
| 1964 | Dr. Sex | Raincoat Man | Uncredited |
| 1964 | Gomer Pyle, U.S.M.C. | Captain | Season 1 Episode 10: "A Date for the Colonel's Daughter" |
| 1965 | Gunsmoke | Stretch Morgan | Season 11 Episode 5: "Taps for Old Jeb" |
| 1965 | Death Valley Days | Lieutenant Richard H. Pratt | Season 13 Episode 24: "The Journey" |
| 1965 | The Glory Guys | Lieutenant Mike Moran | |
| 1965 | Honey West | Jerry, the Photographer (villain) | Season 1 Episode 14: "Invitation to Limbo" |
| 1966 | Chamber of Horrors | Sergeant Jim Albertson | |
| 1966 | Combat! | Reiser | Season 5 Episode 1: "The Gun" |
| 1966 | The Fugitive | Sergeant Fred Bragin | Season 3 Episode 23: "The Chinese Sunset" |
| 1967 | Cool Hand Luke | "Gambler" | |
| 1967 | The Invaders | Lieutenant Matteson | Season 2 Episode 7: "The Spores" |
| 1968 | The Big Valley | Don Jarvis | Season 4 Episode 6: "The Jonah" |
| 1970 | WUSA | Minter | |
| 1971 | Cannon | Steve | Season 1 Episode 3: "Call Unicorn" |
| 1972 | Pocket Money | "Stretch" Russell | |
| 1972–1975 | M*A*S*H | Captain "Trapper" John McIntyre | Main cast; Seasons 1 through 3 |
| 1973 | Barnaby Jones | Gil Atkens | Season 2 Episode 3: "Echo of a Murder" |
| 1975 | Attack on Terror: The FBI vs. the Ku Klux Klan | FBI Special Agent Don Foster | |
| 1976 | City of Angels | Jake Axminster | 13 episodes |
| 1977 | It Happened One Christmas | George Hatch | TV movie |
| 1978 | Once in Paris... | Michael Moore | |
| 1979–1982 | House Calls | Dr. Charley Michaels | 57 episodes |
| 1981 | The Hot Touch | Danny Fairchild | |
| 1983 | Chiefs | Will Henry Lee | TV miniseries |
| 1985 | I Dream of Jeannie... Fifteen Years Later | Colonel Tony Nelson | TV movie |
| 1985 | The Gig | Marty Flynn | |
| 1987 | The Killing Time | Jake Winslow | |
| 1987 | Race Against the Harvest | Walter Duncan | TV Movie |
| 1989 | Passion and Paradise | Raymond Schindler | TV movie |
| 1990 | Miracle Landing | Bob Schornstheimer | TV movie |
| 1993 | The Goodbye Bird | Ray Whitney | |
| 1993 | Murder, She Wrote | Charlie Garrett | Season 9 Episode 13: "Dead Eye" |
| 1994 | Murder, She Wrote | Charlie Garrett | Season 10 Episode 14: "Deadly Assets" |
| 1994 | Murder, She Wrote | Charlie Garrett | Season 11 Episode 7: "Fatal Paradise" |
| 1995 | Murder, She Wrote | Charlie Garrett | Season 12 Episode 2: "A Quaking in Aspen" |
| 1995 | Murder, She Wrote | Charlie Garrett | Season 12 Episode 9: "Dedaly Bidding" |
| 1996 | Ghosts of Mississippi | Morris Dees | |
| 1997 | Diagnosis: Murder | Dr. Ken Morrisay | Season 4 Episode 22: "Physician, Murder Thyself" |
| 1999 | Love Lies Bleeding | Inspector Abberline | |
| 2000 | Coo Coo Cafe | | |
