Filmography95 titles
| Year | Title | Character | Age at release |
|---|---|---|---|
| 2027 | The AuctionMovie | Hector Valdez | 81 |
| 2026 | The Gray HouseSeries | Isham Worthy | 80 |
| 2025 | Liza: A Truly Terrific Absolutely True StoryMovie | Self | 79 |
| 2021 | Broadway: Beyond the Golden AgeMovie | Self | 75 |
| 2020 | B PositiveSeries | Peter | 74 |
| 2019 | The Kelly Clarkson ShowSeries | Self - Guest | 73 |
| 2019 | David Foster: Off the RecordMovie | Self (archive footage) | 73 |
| 2019 | On BroadwayMovie | Self (archive footage) | 73 |
| 2018 | Magnum P.I.Series | Henry Barr | 72 |
| 2017 | The Good FightSeries | Frederick Douglass | 71 |
| 2017 | Making HistorySeries | Dr. Cobell | 71 |
| 2016 | StarSeries | Calvin | 70 |
| 2016 | BullSeries | Willie Lambert | 70 |
| 2016 | The Rocky Horror Picture Show: Let's Do the Time Warp AgainMovie | Dr. Scott | 70 |
| 2015 | Sneaky PeteSeries | Porter | 69 |
| 2015 | Time Out of MindMovie | Dixon | 69 |
| 2014 | Top FiveMovie | Carl Allen | 68 |
| 2013 | KhumbaMovie | Mkhulu (voice) | 67 |
| 2011 | Mama, I Want to Sing!Movie | Horace Payne | 65 |
| 2010 | Hot in ClevelandSeries | Mayor Deacon | 64 |
| 2009 | TapiocaMovie | Nuts | 63 |
| 2007 | And Then Came LoveMovie | Chuck Cooper | 61 |
| 2006 | IdlewildMovie | Percy Senior | 60 |
| 2005 | Grey's AnatomySeries | Archie Roche | 59 |
| 2005 | How I Met Your MotherSeries | Sam Gibbs | 59 |
| 2003 | NCISSeries | Lamar Addison | 57 |
| 2002 | FosseMovie | Performer | 56 |
| 2001 | Law & Order: Criminal IntentSeries | Jeremiah Morris | 55 |
| 2001 | Feast of All SaintsMovie | Rudolphe Lermontant | 55 |
| 2001 | The PaintingMovie | Whistlin' Willie Weston | 55 |
| 1999 | I'll Take You ThereMovie | Mr. Gwin | 53 |
| 1998 | Why Do Fools Fall In LoveMovie | Richard Barrett | 52 |
| 1997 | OzSeries | A.R. Whitworth | 51 |
| 1997 | The ViewSeries | Self | 51 |
| 1997 | VaudevilleMovie | Narrator | 51 |
| 1996 | E! True Hollywood StorySeries | — | 50 |
| 1996 | The Jamie Foxx ShowSeries | Royal | 50 |
| 1996 | Promised LandSeries | — | 50 |
| 1996 | Second NoahSeries | — | 50 |
| 1995 | Happily Ever After: Fairy Tales for Every ChildSeries | Snake (voice) | 49 |
| 1994 | Touched by an AngelSeries | Ulysses Dodd | 48 |
| 1994 | New York UndercoverSeries | Louie | 48 |
| 1993 | Lois & Clark: The New Adventures of SupermanSeries | Dr. Andre Novak | 47 |
| 1993 | The NannySeries | Ben Vereen | 47 |
| 1993 | Once Upon a ForestMovie | Phineas (voice) | 47 |
| 1992 | IntrudersSeries | Gene Randall | 46 |
| 1991 | Silk StalkingsSeries | Ben Hutchinson | 45 |
| 1990 | The Fresh Prince of Bel-AirSeries | Lou Smith | 44 |
| 1990 | Mother Goose Rock 'n' RhymeMovie | Itsy-Bitsy Spider | 44 |
| 1990 | The Kid Who Loved ChristmasMovie | Morris | 44 |
| 1990 | The Chipmunks Rockin' Through The DecadesMovie | Self | 44 |
| 1989 | BookerSeries | Carl McQueen | 43 |
| 1989 | Buy & CellMovie | Shaka | 43 |
| 1987 | CBS Summer PlayhouseSeries | Pianist in Bar | 41 |
| 1987 | Star Trek: The Next GenerationSeries | Dr. Edward La Forge | 41 |
| 1987 | J.J. StarbuckSeries | Tenspeed Turner | 41 |
| 1987 | The Saint in ManhattanMovie | Pianist in Bar | 41 |
| 1986 | The Muppets: A Celebration of 30 YearsMovie | Self (archive footage) | 40 |
| 1986 | Walt Disney World Very Merry Christmas ParadeMovie | — | 40 |
| 1985 | A.D.Series | Ethiopian | 39 |
| 1985 | Breakin' ThroughMovie | — | 39 |
| 1985 | The Zoo GangMovie | The Winch | 39 |
| 1985 | Lost In LondonMovie | Paul Williams | 39 |
| 1985 | Jacques Cousteau: The First 75 YearsMovie | Self | 39 |
| 1985 | Puss in BootsMovie | Puss in Boots | 39 |
| 1984 | Ellis IslandSeries | Roscoe Haines | 38 |
| 1984 | The Jesse Owens StoryMovie | Herb Douglas | 38 |
| 1984 | Lynda Carter: Body and SoulMovie | Self | 38 |
| 1983 | WebsterSeries | — | 37 |
| 1983 | The CharmkinsMovie | Dragonweed (voice) | 37 |
| 1983 | Walt Disney World Very Merry Christmas ParadeSeries | Self - Host | 37 |
| 1982 | Faerie Tale TheatreSeries | Puss in Boots | 36 |
| 1982 | Night of 100 StarsMovie | Self | 36 |
| 1982 | SabineMovie | Stanley | 36 |
| 1981 | PippinMovie | Leading Player | 35 |
| 1981 | Walt Disney: One Man's DreamMovie | Self | 35 |
| 1979 | All That JazzMovie | O'Connor Flood | 33 |
| 1979 | The Cheryl Ladd SpecialMovie | Self | 33 |
| 1978 | The Magic of David CopperfieldSeries | — | 32 |
| 1978 | The Sentry Collection Presents Ben Vereen: His RootsMovie | Self | 32 |
| 1977 | The Love BoatSeries | Dr. John Hanson | 31 |
| 1977 | RootsSeries | Chicken George Moore | 31 |
| 1976 | The Muppet ShowSeries | Self - Special Guest Star | 30 |
| 1976 | Donny & MarieSeries | Self | 30 |
| 1976 | Louis Armstrong: Chicago StyleMovie | — | 30 |
| 1976 | The Captain and TennilleSeries | Self | 30 |
| 1976 | Mary's Incredible DreamMovie | Devil / Noah / Man | 30 |
| 1975 | Funny LadyMovie | Bert Robbins | 29 |
| 1974 | Dinah!Series | Self | 28 |
| 1970 | Gas! -Or- It Became Necessary to Destroy the World in Order to Save It.Movie | Carlos | 24 |
| 1969 | Sweet CharityMovie | Dancer | 23 |
| 1967 | The Carol Burnett ShowSeries | Self - Guest / Various Characters | 21 |
| 1962 | The Tonight Show Starring Johnny CarsonSeries | Self | 16 |
| 1961 | The Mike Douglas ShowSeries | Self - Guest | 15 |
| 1953 | The OscarsSeries | Self | 7 |