Filmography63 titles
| Year | Title | Character | Age at release |
|---|---|---|---|
| 2026 | Beyond the Border: Latino Representation in HollywoodMovie | self | 71 |
| 2025 | Dexter: ResurrectionSeries | Miguel Prado | 70 |
| 2023 | The Walking Dead: Daryl DixonSeries | Captain Alejandro Perkins | 68 |
| 2022 | East New YorkSeries | Chief John Suarez | 67 |
| 2022 | Andor: A Disney+ Day Special LookMovie | Bail Organa (archive footage) (uncredited) | 67 |
| 2020 | The Tax CollectorMovie | The Wizard | 65 |
| 2019 | Bluff City LawSeries | Elijah Strait | 64 |
| 2016 | Rogue One: A Star Wars StoryMovie | Bail Organa | 61 |
| 2016 | Full Frontal with Samantha BeeSeries | Dr. Fauci | 61 |
| 2015 | The Late Late Show with James CordenSeries | Self - Guest | 60 |
| 2014 | How to Get Away with MurderSeries | Isaac Roa | 59 |
| 2013 | Brooklyn Nine-NineSeries | Victor Santiago | 58 |
| 2010 | OutlawSeries | Cyrus Garza | 55 |
| 2008 | Sons of AnarchySeries | Nero Padilla | 53 |
| 2007 | The Jane Austen Book ClubMovie | Daniel | 52 |
| 2007 | CaneSeries | Alex Vega | 52 |
| 2006 | DexterSeries | Miguel Prado | 51 |
| 2005 | Shelter from the Storm: A Concert for the Gulf CoastMovie | Self | 50 |
| 2005 | Lackawanna BluesMovie | Ruben Santiago Sr. | 50 |
| 2005 | Star Wars: Episode III - Revenge of the SithMovie | Senator Bail Organa | 50 |
| 2004 | The Tony Danza ShowSeries | Self - Guest | 49 |
| 2004 | TV RevolutionSeries | — | 49 |
| 2003 | The Ellen DeGeneres ShowSeries | Self | 48 |
| 2002 | Star Wars: Episode II - Attack of the ClonesMovie | Senator Bail Organa | 47 |
| 2002 | The Bronze Screen: 100 Years of the Latino Image in American CinemaMovie | — | 47 |
| 2001 | America | A Tribute to HeroesMovie | Self | 46 |
| 2000 | Bless the ChildMovie | Agent John Travis | 45 |
| 2000 | The Million Dollar HotelMovie | Geronimo | 45 |
| 2000 | Latin Grammy AwardsSeries | Self | 45 |
| 2000 | Price of GloryMovie | Arturo Ortega | 45 |
| 1999 | The West WingSeries | Matthew Santos | 44 |
| 1999 | The Early ShowSeries | Self | 44 |
| 1997 | The ViewSeries | Self | 42 |
| 1997 | Murder in MindMovie | Peter Walker | 42 |
| 1997 | Mother Goose: A Rappin' and Rhymin' SpecialMovie | Old King Cole (voice) | 42 |
| 1997 | Big Guns Talk: The Story of the WesternMovie | Self | 42 |
| 1997 | Lesser ProphetsMovie | Mike | 42 |
| 1996 | The Rosie O'Donnell ShowSeries | Self - Guest | 41 |
| 1996 | The WestSeries | Self | 41 |
| 1996 | Marshal LawMovie | Jack Coleman | 41 |
| 1996 | Animal Charm: Golden DigestMovie | Himself (Archival Footage) | 41 |
| 1995 | Happily Ever After: Fairy Tales for Every ChildSeries | Prince Felipe (voice) | 40 |
| 1995 | My FamilyMovie | Jimmy | 40 |
| 1993 | NYPD BlueSeries | Bobby Simone | 38 |
| 1992 | The Tonight Show with Jay LenoSeries | — | 37 |
| 1991 | SwitchMovie | Walter Stone | 36 |
| 1990 | Cop RockSeries | Victor Sifuentes (uncredited) | 35 |
| 1990 | Vital SignsMovie | Dr. David Redding | 35 |
| 1988 | LIVE with Kelly and MarkSeries | Self - Guest | 33 |
| 1988 | Mickey's 60th BirthdayMovie | Victor Sifuentes | 33 |
| 1988 | GlitzMovie | Vincent Marra | 33 |
| 1987 | The HighwaymanSeries | Bo Ziker | 32 |
| 1987 | The BelieversMovie | Tom Lopez | 32 |
| 1987 | Stamp of a KillerMovie | Richard Braden | 32 |
| 1986 | L.A. LawSeries | Victor Sifuentes | 31 |
| 1986 | Running ScaredMovie | Julio Gonzales | 31 |
| 1986 | RockabyeMovie | 2nd Policeman | 31 |
| 1986 | L.A. Law: PilotMovie | Victor Sifuentes | 31 |
| 1985 | Spenser: For HireSeries | — | 30 |
| 1984 | Miami ViceSeries | Eddie Rivera | 29 |
| 1984 | Miami Vice: Brother's KeeperMovie | Eddie Rivera | 29 |
| 1975 | Saturday Night LiveSeries | Self - Host | 20 |
| 1953 | The OscarsSeries | Self | — |