Filmography
| Year | Title | Role | Notes |
|---|---|---|---|
| 1982 | Matt Houston | Johnny Randolph | Episode: "Stop the Presses" |
| 1983 | Fame | Lucas Boyd | Episode: "Ending on a High Note" |
| 1984 | Call to Glory | Episode: "A Nation Divided" | |
| 1984–92 | Cosby Show, TheThe Cosby Show | Theodore 'Theo' Huxtable | Series regular |
| 1985 | CBS Storybreak | Host | |
| 1986 | ABC Afterschool Special | Charlie Curtis | Episode: "A Desperate Exit" |
| 1986 | Saturday Night Live | Host | Episode: "Malcolm-Jamal Warner/Run-DMC" |
| 1987 | Father Clements Story, TheThe Father Clements Story | Joey | NBC television film |
| 1987 | Home Alone: A Kid's Guide To Playing It Safe When On Your Own | Himself/Host | Direct-to-video special |
| 1988–89 | Different World, AA Different World | Theodore 'Theo' Huxtable | Episodes: "My Dinner With Theo" & "Risky Business" |
| 1989 | Mother's Day | Cullen Sturgis | Television film |
| 1989 | Tour of Duty | SPC Sweet | Episode: "The Volunteer" |
| 1990 | Saturday Morning Videos | Host | |
| 1990 | Real Story of Itsy Bitsy Spider, TheThe Real Story of Itsy Bitsy Spider | Spinner | |
| 1991 | Fresh Prince of Bel-Air, TheThe Fresh Prince of Bel-Air | Eric | Episode: "Cased Up" |
| 1992–93 | Here and Now | Alexander 'A.J.' James | Lead role |
| 1994 | Drop Zone | Terry Nessip | |
| 1994–97 | Magic School Bus, TheThe Magic School Bus | The Producer | |
| 1995 | Touched by an Angel | Zack | Episode: "There But For the Grace of God" |
| 1995 | Tyson | Rory Holloway | HBO television film |
| 1995 | Tuskegee Airmen, TheThe Tuskegee Airmen | Leroy Cappy | HBO television film |
| 1996–2000 | Malcolm & Eddie | Malcolm McGee | Lead role |
| 1997 | Moloney | Episode: "The Ripple Effect" | |
| 1998 | Fare to Remember, AA Fare to Remember | Winter Valen | |
| 1998 | Restaurant | Steven | |
| 1999 | Sliders | R.J. | Episode: "My Brother's Keeper" |
| 2001 | Legend of the Candy Cane | Rusty (voice) | Television film |
| 2002 | Static Shock | Lester Biggs (voice) | Episode: "Duped" |
| 2002 | Lyric Cafe | Host | |
| 2002–04 | Jeremiah | Kurdy Malloy | Series regular |
| 2004 | Reflections: A Story of Redemption | Samuel | |
| 2004 | Stripperella | Episode: "The Bridesmaid" | |
| 2004–05 | Listen Up! | Bernie Widmer | Series regular |
| 2006 | List, TheThe List | Randy | |
| 2006 | Contradictions of the Heart | Miles Long Band | |
| 2006 | Dexter | Rita's Lawyer | Episode: "Seeing Red" |
| 2008 | Cleaner, TheThe Cleaner | Jason Anders | Episode: "Lie with Me" |
| 2008 | Fool's Gold | Cordell | |
| 2009 | HawthoRNe | Fred | Episode: "Healing Time" |
| 2009 | Sherri | Kevin | |
| 2010 | True Blue | Walker MacRae | Television film |
| 2010 | Special Agent Oso | Braden's Dad | Episode: "The Living Holiday Lights" |
| 2011–present | Community | Andre Bennett | Recurring role |
| 2011–present | Reed Between the Lines | Dr. Alex Reed | Lead role |
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