| Year | Title | Role | Note |
| 2001 | The Education of Max Bickford | Quincy | 3 episodes |
| 2002 | ' | Ronnie the Informant | Episode: "Protection" |
| 2002 | Third Watch | Stoner #1 | Episode: "The Chosen Few" |
| 2002 | Hack | Lowlife #1 | 1 episode |
| 2006 | Conviction | Detective Calloway | Episode: "Pilot" |
| 2006 | Alpha Mom | Bob | Television film |
| 2006–2007 | Kidnapped | FBI Agent Malcolm Atkins | 13 episodes |
| 2008 | The Wire | Raymond Wiley | Episode: "Late Editions" |
| 2008 | Generation Kill | Gunnery Sgt. Robert Swarr | Episode: "Stay Frosty" |
| 2009 | The Mentalist | Sheriff Hardy | Episode: "Red John's Footsteps" |
| 2009 | Kings | Eli Shepherd | 3 episodes |
| 2009 | Three Rivers | JC Dawson | Episode: "Place of Life" |
| 2009–2010 | Scrubs | Drew Suffin | 13 episodes |
| 2010–2015 | Castle | Jerry Tyson/3XK | 4 episodes |
| 2010 | ' | Robert Forrester | Episode: "Pasadena" |
| 2010 | The Closer | Jeff Darby | Episode: "Old Money" |
| 2011 | Justified | Kyle Easterly | 3 episodes |
| 2011 | Happy Endings | Malcolm | Episode: "Your Couples, Friends & Neighbors" |
| 2011–2012 | Pan Am | Ted Vanderway | 14 episodes |
| 2012 | 30 Rock | Scott Scottsman | 2 episodes |
| 2012 | Revolution | Private Richards | Episode: "No Quarter" |
| 2012–2013 | Last Resort | Hal Anders | 4 episodes |
| 2012–2014 | Longmire | Sean Keegan | 7 episodes |
| 2014–2015 | Sirens | Johnny | Main Cast, 23 episodes |
| 2016 | Elementary | Al Baxter | Episode: "You've Got Me, Who's Got You?" |
| 2016-2017 | | Colton | 9 episodes |
| 2017–2018 | Ozark | Pastor Mason Young | Main Cast |
| 2018 | Seven Seconds | Joe “Fish” Rinaldi | Main Cast |
| 2018 | FBI | U.S. Marshal Paul Ackerman | Episode: "Compromised" |
| 2019–2020 | Criminal Minds | Everett Lynch | 6 episodes |
| 2019 | Brooklyn Nine-Nine | Franco McCoy | Episode: "The Crime Scene" |
| 2019 | Titans | Doctor Light | Recurring cast |
| 2020 | Next | CM | Upcoming series |
| TBA | Queen Fur | | Main role post-production |
