| 1988 || Mickey's 60th Birthday || Johnathon Rollins || TV movie |- | 1989 || The Cover Girl and the Cop || Horace Bouchet || TV movie |- | 1990 || Murder in Mississippi || James Chaney || TV movieNAACP Image Award for Outstanding Actor in a Television Movie, Mini-Series or Dramatic Special |- | 1990 || Heat Wave || Robert Richardson || TV movie |- | 1991 || || Zelmer Collier || Episode: "War and Peace" |- | 1993 || Father & Son: Dangerous Relations || Jared Williams || TV movie |- | 1996 || Duckman || Blair Underwood (voice) || Episode: "Pig Amok" |- | 1996 || Soul of the Game || Jackie Robinson || TV movieNominated—NAACP Image Award for Outstanding Actor in a Television Movie, Mini-Series or Dramatic Special |- | 1996 || Mistrial || Lieutenant C. Hodges || TV movie |- | 1996–1997 || High Incident || Officer Michael Rhoades || Main cast |- | 1998 || Mama Flora's Family || Willie || TV movieNAACP Image Award for Outstanding Actor in a Television Movie, Mini-Series or Dramatic Special |- | 2000 || City of Angels || Dr. Ben Turner || Main castNAACP Image Award for Outstanding Actor in a Drama Series |- | 2003–2004 || I Love the '90s || Himself || Commentator |- | 2004 || Sex and the City || Dr. Robert Leeds || Recurring castNominated—NAACP Image Award for Outstanding Supporting Actor in a Comedy Series (2004–05) |- | 2004–2005 || Fatherhood || Dr. Arthur Bindlebeep || Main cast |- | 2004–2005 || LAX || Roger De Souza || Main cast |- | 2006–2010 || || Mr. Harris || Recurring castNominated—NAACP Image Award for Outstanding Supporting Actor in a Comedy Series (2008–09) |- | 2006 || Covert One: The Hades Factor || Palmer Addison || TV movie |- | 2007 || Law & Order: Special Victims Unit || Miles Sennett || Episode: "Burned" |- | 2007–2009 || Dirty Sexy Money || Simon Elder || Main castNominated—NAACP Image Award for Outstanding Supporting Actor in a Drama Series (2008–09) |- | 2008 || In Treatment || Alex || Main castNominated—Golden Globe Award for Best Supporting Actor – Series, Miniseries or Television FilmNominated—NAACP Image Award for Outstanding Actor in a Drama Series |- | 2010–2011 || The Event || President Elias Martinez || Main castNominated—NAACP Image Award for Outstanding Actor in a Drama Series |- |