| Year | Title | Role | Notes |
| 1954 | The Elgin Hour | Morton | Season 1 Episode 5: "Hearts and Hollywood" |
| Westinghouse Studio One | (2) Foreman & Juror #1 | (1) Season 6 Episode 18: "A Criminal Design" (2) Season 7 Episode 1: "Twelve Angry Men" |
| The Philco Television Playhouse | | Season 6 Episode 17: "Miss Look-Alike" |
| Goodyear Television Playhouse | | Season 3 Episode 11: "The Huntress" |
| 1955 | Westinghouse Studio One | (2) Jake | (1) Season 7 Episode 17: "Grandma Rolled Her Own" (2) Season 7 Episode 28: "Dominique" |
| 1956 | The Alcoa Hour | Marvie | Season 1 Episode 13: "Finkle's Comet" |
| Joe and Mabel | (1) Mike (2) (3) (4) Harry | (1) Season 1 Episode 1*: "Joe's Bankbook" (aired June 26) (2) Season 1 Episode: "The Line-Up" (aired July 10) (3) Season 1 Episode 11*: "Mabel's Voice" (aired September 4) (4) Episode: "Mabel's Legacy" (aired September 18) * Episodes were first produced in 1955 but were thrown out, with CBS starting completely over in 1956. See show homepage for details. |
| Star Tonight | Sharp | Season 2 Episode 39: "Faith and Patience" |
| Playwrights '56 | Nick Zervas | Season 1 Episode 19: "Nick and Letty" |
| The United States Steel Hour | Detective | Season 4 Episode 7: "Hunted" |
| 1957 | Westinghouse Studio One | | Season 9 Episode 40: "Love Me to Pieces" |
| 1959 | Hallmark Hall of Fame | Wint Selby | TV movie: "Ah, Wilderness!" |
| 1960 | Johnny Staccato | Bill Lentz | Season 1 Episode 17: "The Man in the Pit" |
| Perry Mason | Caspar Pedley | Season 3 Episode 17: "The Case of the Mythical Monkeys" |
| The Untouchables | Reiner | Season 2 Episode 1: "The Rusty Heller Story" |
| The Tom Ewell Show | Howie Fletcher | (1) Season 1 Episode 4: "Tom Takes Over" (2) Season 1 Episode 6: "The Second Phone" (3) Season 1 Episode 7: "The Handwriting on the Wall" (4) Season 1 Episode 8: "The Spelling Bee" (5) Season 1 Episode 11: "Salesmanship Lesson" |
| 1961 | The Law and Mr. Jones | Fred Cook | Season 1 Episode 18: "Lethal Weapons" |
| The Tab Hunter Show | Emory Farnsworth | Season 1 Episode 23: "Me and My Shadow" |
| Peter Gunn | Danny Carmichael | Season 3 Episode 20: "A Kill and a Half" |
| The Aquanauts | Oliver Pappas | Season 1 Episode 25: "The Rainbow Adventure" |
| The Many Loves of Dobie Gillis | Cole | Season 2 Episode 31: "Be It Ever So Humble" |
| Checkmate | Shep Stryker | Season 1 Episode 34: "Hot Wind in a Cold Town" |
| Cain's Hundred | Frank Driscoll | Season 1 Episode 13: "Final Judgment: "Alexander Marish" |
| 1961–1962 | 87th Precinct | Detective Meyer Meyer | Regular cast (30 episodes) |
| 1962 | Sam Benedict | Alex McConnell | Season 1 Episode 15: "Where There's a Will" |
| 1963 | The Eleventh Hour | Lionel | Season 1 Episode 22: "Five Moments Out of Time" |
| The Lloyd Bridges Show | (1) Piggy (2) Mel Baxter | (1) Season 1 Episode 25: "Gym in January" (2) Season 1 Episode 26: "Sheridan Square" |
| The Dick Powell Show | Dr. Joseph Greer | Season 2 Episode 28: "The Last of the Big Spenders" |
| The Lieutenant | Jerry Belman | Season 1 Episode 2: "Cool of the Evening" |
| Kraft Suspense Theatre | Sergeant Max Winkler | (1) Season 1 Episode 1: "The Case Against Paul Ryker: Part 1" (2) Season 1 Episode 2: "The Case Against Paul Ryker: Part 2" |
| East Side/West Side | Eddie Best | Season 1 Episode 9: "Not Bad for Openers" |
| The Alfred Hitchcock Hour | Al Norman | Season 2 Episode 9: "The Dividing Wall" |
| 1964 | The Defenders | George Capp | Season 3 Episode 23: "Moment of Truth" |
| The Hanged Man | Gaylord Grebb | TV movie |
| 1964–1965 | Ben Casey | (1) Arnold Halbert (2) Manny Berger | (1) Season 3 Episode 18: "I'll Get on My Ice Floe and Wave Goodbye" (1964) (2) Season 4 Episode 15: "Where Does the Boomerang Go?" (1965) |
| 1964–1966 | Twelve O'Clock High | (1) Lieutenant Canello (2) Major Praeger | (1) Season 1 Episode 14: "An Act of War" (1964) (2) Season 3 Episode 7: "The All-American" (1966) |
| 1965 | Mr. Novak | Barney Sanders | Season 2 Episode 29: "And Then I Wrote..." |
| The Trials of O'Brien | Mickey the Miser | Season 1 Episode 9: "How Do You Get to Carnegie Hall?" |
| Dr. Kildare | (1) Dr. Keith Myers (2) (3) (4) (5) Arnold Vitnack | (1) Season 4 Episode 31: "A Reverence for Life" (2) Season 5 Episode 20: "Fathers and Daughters" (3) Season 5 Episode 21: "A Gift of Love" (4) Season 5 Episode 22: "The Tent Dwellers" (5) Season 5 Episode 23: "Going Home" |
| The Fugitive | (1) Lieutenant Germak (2) Lieutenant Green | (1) Season 2 Episode 25: "May God Have Mercy" (2) Season 3 Episode 12: "Stranger in the Mirror" |
| 1965–1969 | The F.B.I. | (1) Ted Cullinan (2) Ken Haney (3) Victor Green | (1) Season 1 Episode 11: "All the Streets Are Silent" (1965) (2) Season 3 Episode 27: "The Mercenary" (1968) (3) Season 4 Episode 22: "The Catalyst" (1969) |
| 1966 | The Wild Wild West | Jeremiah Ratch | Season 1 Episode 20: "The Night of the Whirring Death" |
| The Man from U.N.C.L.E. | Mark Slate | Season 2 Episode 23: "The Moonglow Affair" |
| A Man Called Shenandoah | Captain Arnold Dudley | Season 1 Episode 24: "Muted Fifes, Muffled Drums" |
| Bob Hope Presents the Chrysler Theatre | Eddie Carr | Season 4 Episode 7: "Dear Deductible" |
| Bewitched | Dr. Freud | Season 3 Episode 10: "I'd Rather Twitch Than Fight" |
| 1967 | The Invaders | Neal Taft | Season 1 Episode 11: "The Betrayed" |
| Ghostbreakers | Lieutenant P.J. Hartunain | TV movie |
| I Spy | Karin | Season 3 Episode 4: "The Medarra Block" |
| Mannix | Daniel Brewer | Season 1 Episode 10: "Coffin for a Clown" |
| 1967–1969 | Ironside | (1) Captain Lauren (2) Lieutenant Haines | (1) Season 1 Episode 6: "An Inside Job" (1967) (2) Season 3 Episode 7: "Seeing Is Believing" (1969) |
| 1968 | That Girl | Bernie Perperni | Season 2 Episode 19: "Sixty-Five on the Aisle" |
| Judd, for the Defense | Harry Green | Season 2 Episode 5: "The Sound of the Plastic Axe" |
| 1969 | The Name of the Game | Winston Polk | Season 2 Episode 2: "A Hard Case of the Blues" |
| Three's a Crowd | Norman, the Elevator Operator | TV movie |
| 1969–1972 | Love, American Style | (1) Jack 'J.K.' Lewis (2) Ralph Albertson | (1) Season 1 Episode 9 (Segment: "Love and the Good Deal") (1969) (2) Season 4 Episode 8 (Segment: "Love and the Clinic") (1972) |
| 1970 | Double Jeopardy | Sergeant Charles Wilentz | TV movie |
| 1970–1971 | Dan August | Sergeant Charles Wilentz | 26 episodes |
| 1971 | The Partridge Family | Mr. Bruner | Season 2 Episode 4: "The Undergraduate" |
| 1972 | O'Hara, U.S. Treasury | Leo Walsh | Season 1 Episode 22: "Operation – Smokescreen" |
| The Heist | Pat Dillon | TV movie |
| McCloud | Lieutenant Ed Feldman | Season 3 Episode 3: "The Park Avenue Rustlers" |
| 1973 | Marcus Welby, M.D. | George Manning | Season 4 Episode 20: "Catch a Ring That Isn't There" |
| Going Places | Mr. Shaw | TV movie |
| Needles and Pins | Nathan Davidson | Regular cast (14 episodes) |
| Griff | | Season 1 Episode 10: "Hammerlock" |
| 1974 | Medical Center | Frank | Season 5 Episode 22: "The World's Balloon" |
| Thursday's Game | Melvin Leonard | TV movie |
| 1974–1977 | Police Story | (1) Sergeant Dell (2) Lieutenant Alfred Thornwood | (1) Season 2 Episode 8: "Wolf" (1974) (2) Season 4 Episode 19: "One of Our Cops is Crazy" |
| 1975 | Death Stalk | Frank Cody | TV movie |
| McMillan & Wife | Allan Kovacs | Season 4 Episode 6: "Love, Honor and Swindle" |
| Lucas Tanner | Abe Lydecker | Season 1 Episode 19: "The Noise of a Quiet Weekend" |
| Rhoda | Dr. Henry Gerber | (1) Season 1 Episode 21: "Chest Pains" (2) Season 2 Episode 3: "Ida's Doctor" |
| Cannon | Police Lieutenant | Season 5 Episode 15: "The Games Children Play" |
| Starsky & Hutch | Sammy Grovner | Season 1 Episode 15: "Shootout" |
| 1976 | Rich Man, Poor Man | Smitty | Mini-Series (1) Season 1 Episode 3: Part III: Chapter 5" (2) Season 1 Episode 4: "Part IV: Chapter 6" (3) Season 1 Episode 5: "Part V: Chapter 7" (4) Season 1 Episode 9: "Part VIII: Chapters 11 and 12" Emmy Award (nominated) |
| Ellery Queen | Errol Keyes | Season 1 Episode 19: "The Adventure of the Tyrant of Tin Pan Alley" |
| Risko | Max | TV movie; Unsold TV Pilot |
| The Bionic Woman | Milt Bigelow | Season 2 Episode 2: "In This Corner, Jaime Sommers" |
| The Streets of San Francisco | Juror | (1) Season 5 Episode 1: "The Thrill Killers: Part 1" (2) Season 5 Episode 2: "The Thrill Killers: Part 2" |
| Richie Brockelman: The Missing 24 Hours | Mr. Brockelman | TV movie |
| Switch | Marty | Season 2 Episode 7: "Gaffing the Skim" |
| Executive Suite | Bernie | Season 1 Episode 10: "Re: The Sounds of Silence" |
| 1976–1981 | Three's Company | Stanley Roper | 56 episodes; Golden Globe Award (won) |
| 1977 | The Life and Times of Grizzly Adams | Mitch Morgan | Season 1 Episode 7: "The Redemption of Ben" |
| Charlie's Angels | Sammy | Season 2 Episode 1: "Angels in Paradise" |
| 1978 | The Love Boat | Mr. McCoy, Julie's Father | Season 2 Episode 3: "Julie's Dilemma/Who's Who/Rocky" |
| 1979 | Roots: The Next Generations | Bernie Raymond | Mini-Series Season 1 Episode 7: "Part VII (1960–1967)" |
| 1979–1980 | The Ropers | Stanley Roper | 28 episodes |
| 1980 | Getting There | Jim | TV movie |
| This Year's Blonde | Pat Toledo | TV movie |
| For the Love of It | Hall | TV movie |
| 1982 | Matt Houston | Herman | Season 1 Episode 9: "Joey's Here" |
| 1982–1983 | Teachers Only | Ben Cooper | 21 episodes |
| 1983 | Uncommon Valor | Garvin | TV movie |
| 1984 | The Jesse Owens Story | Marty Forkins | TV movie |
| 1985 | Simon & Simon | Leo Nyquist | Season 5 Episode 11: "Facets" |
| 1985–1986 | Crazy Like a Fox | (2) Inspector Peyton | (1) Season 2 Episode 7: "Some Day My Prints Will Come" (1985) (2) Season 2 Episode 22: "A Fox at the Races" (1986) |
| 1985–1988 | Murder, She Wrote | (1) Vince Shackman (2) Lieutenant Rupp | (1) Season 2 Episode 8: "Dead Heat" (1985) (2) Season 4 Episode 19: "Just Another Fish Story" (1988) |
| 1986 | Webster | Charlie | Season 3 Episode 21: "Almost Home" |
| The Twilight Zone | Eddie O'Hara | Season 2 Episode 6: "The Convict's Piano" |
| 1987 | Magnum, P.I. | David Albertson | Season 7 Episode 15: "Solo Flight" |
| Matlock | Dr. Norman Radburn | Season 1 Episode 24: "The Doctors" |
| Out of This World | Dr. Hauser | Season 1 Episode 3: "The Nightmare" |
| Sledge Hammer! | Doctor | Season 2 Episode 13: "They Call Me Mr. Trunk" |
| 1988–1989 | The Boys | Dave | (1) Season 1 Episode 1: "Gene's Problem" (1988) (2) Season 1 Episode 2: "Some Don't Like It Hot" (1989) (3) Season 1 Episode 5: "Friar's Club" (1989) (4) Season 1 Episode 8: "Labor Day" (1989) |
| 1989 | Hooperman | Pete Cosgrove, Ventriloquist | Season 2 Episode 16: "Dog Day Afternoon, Morning and Night" |
| The Super Mario Bros. Super Show! | (1) Fred Van Winkle (2) Ted Bull | (1) Season 1 Episode 25: "Fred Van Winkle" (2) Season 1 Episode 44: "Texas Tea" |
| 1990 | Good Grief | Slezar | Season 1 Episode 7: "The Good, the Bad and the Mariachis" |
| 1993 | Flying Blind | Employer #2 | Season 1 Episode 14: "Panic in Neil's Park" |
| 1994 | The Fresh Prince of Bel-Air | The Landlord | Season 5 Episode 2: "What's Will Got to Do With It?" |
| 1995 | Family Reunion: A Relative Nightmare | Grandpa Joe Dooley | TV movie |
| 1997 | The Naked Truth | Himself | Season 3 Episode 3: "Bully for Dave" |
| Ellen | Mr. Roper | Season 5 Episode 3: "Roommates" |
| 1998 | Life With Louie | Vic | Season 3 Episode 11: "Blinded by Love" (voice) |