- The Auction
2027 Hector Valdez
- The Gray House
2026 Isham Worthy
- B Positive
2020 Peter
- Magnum P.I.
2018 Henry Barr
- The Good Fight
2017 Frederick Douglass
- Making History
2017 Dr. Cobell
- Bull
2016 Willie Lambert
- Star
2016 Calvin
- Time Out of Mind
2015 Dixon
- Sneaky Pete
2015 Porter
- Top Five
2014 Carl Allen
- Khumba
2013 Mkhulu (voice)
- Mama, I Want to Sing!
2011 Horace Payne
- Hot in Cleveland
2010 Mayor Deacon
- Tapioca
2009 Nuts
- Accidental Friendship
2008 Wes
- And Then Came Love
2007 Chuck Cooper
- Idlewild
2006 Percy Senior
- How I Met Your Mother
2005 Sam Gibbs
- Grey's Anatomy
2005 Archie Roche
- NCIS
2003 Lamar Addison
- Fosse
2002 Performer
- Feast of All Saints
2001 Rudolphe Lermontant
- The Painting
2001 Whistlin' Willie Weston
- Law & Order: Criminal Intent
2001 Jeremiah Morris
- I'll Take You There
1999 Mr. Gwin
- Why Do Fools Fall In Love
1998 Richard Barrett
- Vaudeville
1997 Narrator
- Oz
1997 A.R. Whitworth
- The Jamie Foxx Show
1996 Royal
- Promised Land
1996
- Second Noah
1996
- Happily Ever After: Fairy Tales for Every Child
1995 Snake (voice)
- New York Undercover
1994 Louie
- Touched by an Angel
1994 Ulysses Dodd
- Once Upon a Forest
1993 Phineas (voice)
- The Nanny
1993 Ben Vereen
- Lois & Clark: The New Adventures of Superman
1993 Dr. Andre Novak
- Intruders
1992 Gene Randall
- Silk Stalkings
1991 Ben Hutchinson
- Mother Goose Rock 'n' Rhyme
1990 Itsy-Bitsy Spider
- The Kid Who Loved Christmas
1990 Morris
- The Fresh Prince of Bel-Air
1990 Lou Smith
- Buy & Cell
1989 Shaka
- Booker
1989 Carl McQueen
- The Saint in Manhattan
1987 Pianist in Bar
- Star Trek: The Next Generation
1987 Dr. Edward La Forge
- J.J. Starbuck
1987 Tenspeed Turner
- CBS Summer Playhouse
1987 Pianist in Bar
- Zoobilee Zoo
1986 Mayor Ben
- The Zoo Gang
1985 The Winch
- Breakin' Through
1985
- Puss in Boots
1985 Puss in Boots
- Lost In London
1985 Paul Williams
- A.D.
1985 Ethiopian
- The Jesse Owens Story
1984 Herb Douglas
- Ellis Island
1984 Roscoe Haines
- The Secret World of the Very Young
1984 Songs
- The Charmkins
1983 Dragonweed (voice)
- Webster
1983
- Sabine
1982 Stanley
- Faerie Tale Theatre
1982 Puss in Boots
- Pippin
1981 Leading Player
- Tenspeed and Brown Shoe
1980 E.L. 'Tenspeed' Turner
- All That Jazz
1979 O'Connor Flood
- The Love Boat
1977 Dr. John Hanson
- Roots
1977 Chicken George Moore
- Mary's Incredible Dream
1976 Devil / Noah / Man
- Funny Lady
1975 Bert Robbins
- Ben Vereen... Comin' at Ya
1975 Host
- Sweet Charity
1969 Dancer
