Acting
- 2011Harry's LawWentworth Warren1 ep.
- 2001The TickFive-Star General1 ep.
- 1994FriendsDoctor1 ep.
Guest appearances
- 2016Brooklyn Nine-NineDavid1 ep.
- 2011Harry's LawWentworth Warren1 ep.
- 2010The CloserState Official1 ep.
- 2007The UnitMr. Williams1 ep.
- 2007Curb Your EnthusiasmBoard Member #31 ep.
- 2007Desperate HousewivesDr. Gainsburg1 ep.
- 2004Joan of ArcadiaDr. Hankin1 ep.
- 2002FriendsDoctor1 ep.
- 2001The TickFive-Star General1 ep.
- 2001Everybody Loves RaymondDoctor1 ep.
- 2001JAGJudge Eberhardt1 ep.
- 2001Spin CityDoctor1 ep.
- 2000The West WingBlakely1 ep.
- 2000Ally McBealDr. Yellen1 ep.
- 2000Diagnosis: MurderLangston McHenry1 ep.
- 2000Malcolm in the MiddleDoctor1 ep.
- 1999MoeshaMr. Coleman1 ep.
- 1998Touched by an AngelDr. Evans1 ep.
- 1998The Larry Sanders ShowDr. Reisman1 ep.
- 1998Caroline in the CityEditor1 ep.
- 1997Brooklyn SouthLarry Faderick1 ep.
- 1997The PracticeJudge Wald1 ep.
- 1996CoachDoc1 ep.
- 1996Nowhere ManDetective Tanner1 ep.
- 1996ERDave Donovan1 ep.
- 1994Hangin' with Mr. CooperManager1 ep.
- 1992Melrose PlaceDetective1 ep.
- 1992L.A. LawRichard Williamson1 ep.
- 1991The Fresh Prince of Bel-AirBrett1 ep.
- 1987The Golden GirlsMr. Murray1 ep.
Also known as: Richard W. Penn