| Godina | Naslov | Uloga | Napomee |
| 1961 | Twenty-Four Hours in a Woman's Life | Cristoff | TV film |
| 1967 | Annie Get Your Gun | Charles Davenport | TV film |
| 1973 | Love, American Style | Homer | epizoda: "Love and the Hoodwinked Honey" |
| 1975 | Medical Center | Josh | epizoda: "The Captives" |
| 1975 | Kojak | Brubaker | epizoda: "A Question of Answers" |
| 1980 | Buck Rogers in the 25th Century | Lars Mangros | epizoda: "Space Rockers" |
| 1983 | The Magic of Herself the Elf | King Thorn (glas) | TV film |
| 1983 | An Invasion of Privacy | Sam Bianchi | TV film |
| 1985 | Our Family Honor | Brian Merrick | 2 epizode |
| 1985–1991 | Murder, She Wrote | Harry McGraw | 6 epizoda |
| 1986 | Dream West | Capt. John Stutter | TV film |
| 1986 | The Adventures of the Galaxy Rangers | Zachary Foxx (glas) | 7 epizoda |
| 1987 | Tales from the Darkside | Robert | epizoda: "Everybody Needs a Little Love" |
| 1987 | Out on a Limb | Mort Viner | TV film |
| 1987 | Love Among Thieves | Spicer | TV film |
| 1987–1988 | The Law & Harry McGraw | Harry McGraw | 16 episodes |
| 1988 | Simon & Simon | Harrison/Malcolm Stanley III | epizoda: "Ain't Gonna Get It From Me, Jack" |
| 1989 | Perry Mason: The Case of the Musical Murder | Blaine Counter | TV film |
| 1989 | The Flamingo Kid | Phil Brody | |
| 1990 | Hunter | Sal Scarlatti | epizoda: "Son and Heir" |
| 1990 | The Golden Girls | Glen O'Brien | epizoda: "Cheaters"
nominacija—Emmy za gostujućeg glumca u humorističkoj seriji |
| 1990 | Who's the Boss? | Nick | epizoda: "Starlight Memories" |
| 1990 | Kojak: None So Blind | Tony Salducci | TV film |
| 1990 | In Defense of a Married Man | Alan Michaelson | TV film |
| 1991 | Perry Mason: The Case of the Ruthless Reporter | Vic St. John | TV film |
| 1991 | Law & Order | Frank Lehrmann | epizoda: "The Wages of Love" |
| 1992 | Empty Nest | Arthur | 2 episodes |
| 1992 | Neil Simon's Broadway Bound | Jack Jerome | TV film
nominacija za Emmy za sporednog glumca u mniseriji ili TV-filmu |
| 1992 | Quiet Killer | Dr. Vincent Califano | TV film |
| 1992 | Mastergate | Clifton Byers | TV film |
| 1992–2004 | Law & Order | Detektiv Leonard W. "Lennie" Briscoe | 273 epizoda
nominacija za Wmmy za glavnog glumca u dramskoj seriji |
| 1996 | Frasier | Mitch | epizoda: "High Crane Drifter" |
| 1996–1999 | Homicide: Life on the Street | Det. Lennie Briscoe | 3 epizode |
| 1998 | Exiled: A Law & Order Movie | Det. Lennie Briscoe | TV film |
| 1999–2000 | Law & Order: Special Victims Unit | Det. Lennie Briscoe | 3 epizode |
| 2000-2002 | Encounters with the Unexplained | sam sebe, voditelj | TV dokumentarni film |
| 2001 | Law & Order: Criminal Intent | Det. Lennie Briscoe | epizoda: "Poison" |
| 2001–2002 | Disney's House of Mouse | Lumière (voice) | 9 epizoda |
| 2005 | Law & Order: Trial by Jury | D.A. Investigator Lennie Briscoe | 2 epizode |
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