| Year | Title | Role | Notes |
| 1952 | A Woman for the Ages | John Quincy Adams | TV movie |
| 1956 | Robert Montgomery Presents | Donald Kemper | Episode: "Three Men From Tomorrow" |
| 1956,1960,1961 | Armstrong Circle Theatre | Leonard Gregory | Episode: "Five Who Shook the Mighty"Episode: "Separate Parents"Episode: "The Spy Next Door" |
| 1959 | Brenner | Larry Dyer | Episode: "Man in the Middle" |
| 1961,1962 | Naked City | Herbert GraftonHarry Culverin | Episode: "A Kettle of Precious Fish"Episode: "Idyllis of a Running Back" |
| 1962,1964 | The Defenders | MalloyMike Herman | Episode: "The Locked Room"Episode: "A Voice Loud and Clear" |
| 1963 | East Side/West Side | Principal Costigan | Episode: "I Before E Except After C" |
| 1963,1965 | The Doctors and the Nurses | Vernon KaneBuddy | Episode: "Field of Battle"Episode: "A Couple of Dozen Tiny Pills" |
| 1965 | For the People | Fred Rice | Episode: "Any Benevolent Purpose" |
| 1966 | Cat | Tony Webb | Episode: "The Ring of Anasis" |
| 1967 | Captain Nice | Carter Nash / Captain Nice | Main cast; 15 episodes |
| 1968 | The Good Guys | Arnold Schreck | Episode: "Let 'em Eat Rolls" |
| 1968 | The Ghost & Mrs. Muir | Blair Thompson | Episode: "Mr. Perfect" |
| 1969 | Judd, for the Defense | Harry Stratton | Episode: "Epitaph on a Computer Card" |
| 1972 | Cannon | Dale Corey | Episode: "Hear No Evil" |
| 1973 | Love, American Style | Alan | Segment: "Love and the Old Lover" |
| 1973 | Ironside | Stillwald, the Bank Manager | Episode: "All Honorable Men" |
| 1973 | Murdock's Gang | Roger Bates | TV movie |
| 1973 | The Fabulous Doctor Fable | Elliot Borden | TV movie |
| 1973,1976 | McCloud | Clayton GillsFred Pearson | Episode: "Butch Cassidy Rides Again"Episode: "The Day New York Turned Blue" |
| 1974 | Kolchak: The Night Stalker | Police Lt. Jack Matteo | Episode: "The Vampire" |
| 1974 | A Case of Rape | Leonard Alexander | TV movie |
| 1975 | Insight | Mike Madden | Episode: "Hunger Knows My Name" |
| 1975 | Barbary Coast | Boyle | Episode: "Irish Luck" |
| 1975 | The Bob Newhart Show | Edgar T. Vickers Jr. | Episode: "Fathers and Sons and Mothers" |
| 1975 | Sarah T. – Portrait of a Teenage Alcoholic | Matt Hodges | TV movie |
| 1975 | One of Our Own | Dr. Moresby | TV movie |
| 1976 | Francis Gary Powers: The True Story of the U-2 Spy Incident | Bissell | TV movie |
| 1976 | That Was the Year That Was – 1976 | Sketch Actor | TV movie |
| 1976 | The Adams Chronicles | John Quincy Adams (age 50–81) | |
| 1976 | McMillan & Wife | Commander Campbell | Episode: "Point of Law" |
| 1976 | The Rockford Files | Thomas CaineGary Bevins | Episode: "The Italian Bird Fiasco"Episode: "So Help Me God" |
| 1976–1977 | The Nancy Walker Show | Lt. Commander Kenneth Kitteridge | Main cast; 13 episodes |
| 1976,1979,1980 | Quincy, M.E. | Paul ReardonCharlie TrusdaleDr. Charlie Volmer | Episode: "A Star is Dead"Episode: "Dark Angel"Episode: "Last Rights" |
| 1977 | The Incredible Hulk | Dr. John Bonifant | Episode: "Death in the Family" |
| 1977 | Killer on Board | Marshall Snowden | TV movie |
| 1977 | The Court-Martial of George Armstrong Custer | Colonel Marcus Reno | TV movie |
| 1978 | Soap | Heinrich Himmel | Season 1, Episode 16 |
| 1978 | Family | Dr. Taylor | Episode: "Counterpoint" |
| 1978 | Grandpa Goes to Washington | Gov. Bronx | Episode: "Pilot" |
| 1978 | Greatest Heroes of the Bible | Chasrubal | Episode: "Joshua and the Battle of Jericho" |
| 1978 | The Bastard | Samuel Adams | TV movie |
| 1978 | Big Bob Johnson and His Fantastic Speed Circus | Lawrence Stepwell III | TV movie |
| 1978 | Sergeant Matlovich vs. the U.S. Air Force | Father Veller | TV movie |
| 1979 | Blind Ambition | G. Gordon Liddy | |
| 1979 | The Chinese Typewriter | Devlin | TV movie |
| 1979 | The Rebels | John Adams | TV movie |
| 1980 | The Misadventures of Sheriff Lobo | Dr. Walter Taylor | Episode: "Who's the Sexiest Girl in the World" |
| 1980 | Galactica 1980 | Norman Blore | Episodes: The Night the Cylons Landed Part 1 & 2 |
