Robert Guillaume
- Once Upon a Studio
2023 Rafiki (voice) (archive sound)
- Columbus Circle
2012 Howard Miles
- Satin
2011 Doc Bishop
- The Secrets of Jonathan Sperry
2008 Mr. Barnes
- The Lion King 1½
2004 Rafiki (voice)
- Timon & Pumbaa Virtual Safari 2.0
2004 Rafiki (voice) (archive audio)
- Timon & Pumbaa's Virtual Safari 1.5
2004 Rafiki (voice) (archive sound)
- Century City
2004 Judge
- Big Fish
2003 Dr. Bennett (senior)
- The Adventures of Tom Thumb and Thumbelina
2003 Ben (voice)
- Timon & Pumba's Virtual Safari
2003 Rafiki (voice) (archive audio)
- 13th Child
2002 Riley
- 8 Simple Rules
2002 Cody Grant
- The Land Before Time VIII: The Big Freeze
2001 Mr. Thicknose (voice)
- The Proud Family
2001 Dr. Parker (voice)
- CSI: Crime Scene Investigation
2000 Sonny Bridges
- Silicon Towers
1999 Detective Green
- The Lion King II: Simba's Pride
1998 Rafiki (voice)
- His Bodyguard
1998 Garrett
- The Easter Story Keepers
1998 Ben (voice)
- Sports Night
1998 Isaac Jaffe
- Merry Christmas, George Bailey
1997 Mr. Gower
- Spy Hard
1996 Agent Steve Bishop
- Lamb Chop's Chanukah and Passover Surprise
1996 Robert
- Run for the Dream: The Gail Devers Story
1996 Reverend Devers
- Panic in the Skies!
1996 Rob Barnes
- First Kid
1996 Wilkes
- Moesha
1996 Arthur
- Promised Land
1996
- Pandora's Clock
1996 Ambassador Lee Lancaster
- Timon and Pumbaa
1995 Rafiki (voice)
- The Outer Limits
1995 Mr. Brown
- Children of the Dust
1995 Mossburger
- Happily Ever After: Fairy Tales for Every Child
1995 Narrator (voice)
- The Lion King
1994 Rafiki (voice)
- Cosmic Slop
1994 Gleason Golightly (segment 'Space Traders')
- Greyhounds
1994 Robert Smith
- Touched by an Angel
1994 Judge Dawes
- Burke's Law
1994 Eugene Sayers
- The Meteor Man
1993 Ted Reed
- Saved by the Bell: The College Years
1993 Dr. Arthur Hemmings
- Diagnosis: Murder
1993 Father Morrissey
- Mastergate
1992 Senator Sellers
- You Must Remember This
1992 Uncle Buddy
- Fish Police
1992 Det. Catfish (voice)
- Jack's Place
1992
- Pacific Station
1991 Bob Ballard
- Death Warrant
1990 Hawkins
- Fire and Rain
1990 Carter
- The Fresh Prince of Bel-Air
1990 Pete Fletcher
- Lean On Me
1989 Dr. Frank Napier
- The Penthouse
1989 Eugene St. Clair
- The Robert Guillaume Show
1989 Edward Sawyer
- Wanted: Dead or Alive
1987 Philmore Walker
- They Still Call Me Bruce
1987 V.A. Officer Johnson
- Perry Mason: The Case of the Scandalous Scoundrel
1987 Harlan Wade
- A Different World
1987 Dean Winston
- Crossbow
1987
- John Grin's Christmas
1986 Director
- Passion and Memory
1986 Host
- L.A. Law
1986 Edward Rollins
- Prince Jack
1985 Martin Luther King
- North and South
1985 Frederick Douglass
- The Fantastic World of D.C. Collins
1984 Executive Producer
- The Kid with the 200 I.Q.
1983 Executive Producer
- The Kid with the Broken Halo
1982 Blake
- Hotel
1982
- Purlie
1981 Purlie
- Seems Like Old Times
1980 Fred
- The Donna Summer Special
1980 An Angel
- The Kid from Left Field
1979 Larry Cooper
- Benson
1979 Benson DuBois
- The Love Boat
1977 Frank Belloque
- Soap
1977 Benson
- The Jeffersons
1975
- Good Times
1974
- Super Fly T.N.T.
1973 Jordan Gaines
- Sanford and Son
1972
- All in the Family
1971 Dr. Franklin
- Marcus Welby, M.D.
1969 Aaron Carothers
- Julia
1968
- The Bob Hope Show
1950 The Singer
