| Year | Title | Role | Notes |
| 1987 | Amen | Darius Hughes | Episode: "The Twelve Songs of Christmas" |
| Hooperman | Wendell | Episode: "Deck the Cell with Bars of Folly" |
| 1988 | What's Happening Now!! | Brian | Episode: "The Fabulous Fortunes" |
| 1989–98 | Family Matters | Edward "Eddie" Winslow | Main Cast |
| 1996 | Soul Train | Himself/Guest Host | Episode: "Mint Condition/For Real/Case Featuring Foxy Brown/Southside B.O.I.Z." |
| Moesha | Dante Woodson | Episode: "Hakeem's New Flame" |
| 2000 | City of Angels | Manny | Episode: "Dress for Success" |
| Freedom | James Barrett | Main Cast |
| 2001 | The Test | Himself/Panelist | Episode: "The Infidelity Test" |
| 2003 | Kingpin | Truck Thomas | Main Cast |
| Girlfriends | Antoine Childs | Episode: "You Ain't Gotta Go Home But... You Know the Rest" |
| 2004 | Dr. Vegas | Stan | Episode: "Pilot" |
| 2005 | Committed | Bowie James | Main Cast |
| 2006 | Eve | Jamal | Episode: "Separate, But Unequal" & "Daughter Don't Preach" |
| 2009 | Whatever Happened To? | Himself | Episode: "Troubled Teens" |
| Star-ving | - | Episode: "Straight Outta Compton" |
| Cold Case | Eric "Showtime" Hynes | Episode: "Stealing Home" |
| 2009–11 | The Young and the Restless | Malcolm Winters | Regular Cast |
| 2010 | I Get That a Lot | Himself | Episode: "Gene Simmons, Paris Hilton, Julie Chen, Tony Hawk, Snoop Dogg, Rachael Ray" |
| 2012 | Rizzoli & Isles | TK | Episode: "Home Town Glory" |
| 2012–13 | Anger Management | Donovan | Recurring Cast |
| 2013 | The Soul Man | Patrice | Episode: "Boyce in the Hood" |
| 2015 | The Leftovers | Isaac Rayney | Recurring Cast: Season 2 |
| Minority Report | Agent Aman Shale | Episode: "Memento Mori" & "Everybody Runs" |
| 2015–16 | Da Jammies | Principle Cransberry (voice) | Recurring Cast |
| 2016 | Pitch | Kevin | Episode: "The Break" |
| 2016–18 | Star | Otis Leecan | Recurring Cast: Season 1, Guest: Season 2 |
| 2017 | The Catch | Raymond Taggart | Episode: "The Birthday Party" |
| Snowfall | Andre | Episode: "2016 Original Pilot" |
| 2018–21 | Monogamy | Connor | Main Cast |
| 2020 | American Soul | James Brown | Episode: "Say You Love Me" |
