| Year | Title | Role | Notes |
| 1987 | Vietnam War Story | French | Episode: "The Pass" (S1.E3) |
| 1988–1989 | The Equalizer | Dr. Wolff | Episodes: "The Last Campaign", "Starfire" |
| 1989 | A Man Called Hawk | Derrick West | Episode: "Never My Love" |
| 1990 | Capital News | Conrad White | Main cast |
| 1991 | I'll Fly Away | Charles | Episode: "Coming Home" |
| The 10 Million Dollar Getaway | Parnell "Stacks" Edwards | TV movie |
| 1992 | General Motors Playwrights Theater | Sergeant Kelly | Episode: "Avenue Z Afternoon" |
| Law & Order | Chief Ola-Gimju Nwaka | Episode: "Consultation" |
| Unnatural Pursuits | Cabbie | Episode: "I Don't Do Cuddles" |
| 1993 | Strapped | District Attorney | TV movie |
| 1994 | Last Days of Russell | Walter | TV movie |
| 1995 | Law & Order | Jerome Bryant | Episode: "Rage" |
| New York News | Jesus | Episode: "The Using Game" |
| 1996 | New York Undercover | Dr. Anthony Fisher | Episode: "Bad Blood" |
| Never Give Up: The Jimmy V Story | John Saunders | TV movie |
| 1997 | The Advocate's Devil | Justin | TV movie |
| 1996–1997 | Moloney | District Attorney Calvin Patterson | Recurring cast |
| 1997 | 413 Hope | Taffy | Episode: "Pilot" & "Fatherhood" |
| 1997–1999 | The Gregory Hines Show | Carl Stevenson | Main cast |
| 1998 | Sports Theater with Shaquille O'Neal | Assistant Coach | Episode: "Scrubs" |
| 1998–2000 | The Brian Benben Show | Kevin La Rue | Main cast |
| 1999 | The Expert | Dr. Worseley | Episode: "Pilot" |
| Law & Order | Mr. Wade | Episode: "Disciple" |
| MTV Downtown | Limo driver | Episode: "Limo", credited as Edward Pierce |
| 2000 | God, the Devil and Bob | Mike (voice) | Episodes: "In the Beginning" & "Date from Hell" |
| Third Watch | Officer Conrad 'Candyman' Jones | Recurring cast (season 1) |
| City of Angels | Norbert Grimly | Episode: "Straight Flush" |
| 2001 | My Wife and Kids | Dr. Boucher | Episode: "Pilot" |
| 2000–2001 | The Weber Show | Wendell Simms | Main cast |
| 2002 | Girlfriends | Anthony Jackson | Episode: "Childs in Charge" |
| 2002–2008 | The Wire | Detective William "Bunk" Moreland | Main cast |
| 2004 | Judging Amy | Harry Benton | Episode: "Sins of the Father" |
| Law & Order | Roger Porter | Episode: "Gunplay" |
| Mitchellville | – | TV movie |
| 2005–2006 | Law & Order: Trial by Jury | Dr. Richard Link | Episodes: "The Line" & "Eros in the Upper Eighties" |
| 2006 | Close to Home | Sam Carter | Episode: "Prodigal Son" |
| 2007 | The Wire: The Chronicles | Detective William "Bunk" Moreland | Episode: "2000: Bunk and McNulty" |
| Life Support | "Slick" | TV movie |
| 2007–2008 | Numb3rs | William Bradford | Recurring cast (season 3), guest (season 5) |
| 2008 | Women's Murder Club | Bill Schroeder | Episode: "Father's Day" |
| In Plain Sight | Dr. Warren McBride / Warren Morris | Episode: "It Doesn't Live Here Anymore" |
| House of Payne | Jeffrey Lucas | Recurring cast (season 4) |
| 2009 | Fear Itself | Wiilbur Orwell | Episode: "Something with Bite" |
| Hawthorne | Michael Schilling | Episode: "Trust Me" |
| Drop Dead Diva | Neal David | Episode: "Grayson's Anatomy" |
| 2010 | Tim & Eric Awesome Show | Detective | Episode: "Re-Animated" |
| 2010–2013 | Treme | Antoine Batiste | Main cast |
| 2013–2014 | The Michael J. Fox Show | Harris Green | Main cast |
| 2013–2019 | Suits | Robert Zane | Recurring cast (seasons 2–9) |
