| Movie | 1991 | Memorial: Letters from American Soldiers | Reader | |
| Movie | 1985 | Cat's Eye | Hugh | |
| Movie | 2003 | Henry Builds a Cabin | | |
| Movie | 1994 | The Birds II: Land's End | Frank | |
| Movie | 1982 | A Stranger Is Watching | Steve Peterson | |
| Movie | 2006 | Hacking Democracy | Narrator | |
| Movie | 2002 | E.T. the Extra-Terrestrial 20th Anniversary Special | Narrator (voice) | |
| Movie | 2006 | Factory Girl | Fuzzy Sedgwick | |
| Movie | 2007 | Suburban Girl | Robert Eisenberg | |
| Movie | 1981 | The Bunker | James O'Donnell | |
| Movie | 1973 | The Paper Chase | Kevin Brooks | |
| Movie | 2006 | Shining Soul: Helen Keller's Spiritual Life and Legacy | Narrator | |
| Movie | 1987 | The Glass Menagerie | Jim O'Connor | |
| Movie | 2000 | The Truth About Jane | Robert | |
| Movie | 1980 | The Forgotten City of the Planet of the Apes | Peter Burke | |
| Movie | 1995 | Mixed Blessings | Brad Coleman | |
| Movie | 1974 | Antigone | Haemon | |
| Movie | 1985 | Between the Darkness and the Dawn | Jack Parrish | |
| Movie | 1975 | The First 36 Hours of Dr. Durant | Dr. Baxter | |
| Movie | 1992 | Sondheim: A Celebration at Carnegie Hall | Self | |
| Movie | 1986 | Sin of Innocence | Andy Colleran | |
| Movie | 2008 | What Do You Do With A Tail Like This? | | |
| Movie | 2011 | Robot Zot! | | |
| Movie | 2023 | Not the Same Clarence | Clarence | |
| Movie | 2013 | The Word | | |
| Movie | 2004 | The Littlest Light on the Christmas Tree | Tim Wiggins/Narrator | |
| Movie | 1989 | Broadway's Dreamers: The Legacy of the Group Theatre | Self | |
| Movie | 2022 | Past Prologue | Robert | |
| Movie | 1982 | Parole | Andy Driscoll | |
| Movie | 2000 | Labor Pains | Dr. Senior | |
| Movie | 1996 | First Kid | President Paul Davenport | |
| Movie | 1999 | Oxygen | Clark Hannon | |
| Movie | 2015 | Childless | Harvey | |
| Movie | 2017 | Broadway: The Next Generation | Self | |
| Movie | 1982 | My Body, My Child | Dr. Dan Berensen | |
| Movie | 2024 | SilverSizzle | Jamie | |
| Movie | 2004 | Fascination | Patrick Doherty | |
| Movie | 2016 | Equity | John | |
| Movie | 1980 | Farewell to the Planet of the Apes | Pete Burke | |
| Movie | 1980 | Life, Liberty and Pursuit on the Planet of the Apes | Pete Burke | |
| Movie | 1980 | Treachery and Greed on the Planet of the Apes | Pete Burke | |
| Movie | 1988 | Necessity | Rick LaSalle | |
| Movie | 2014 | Turks & Caicos | Frank Church | |
| Movie | 1976 | Second Wind | Roger | |
| Movie | 1984 | Last of the Great Survivors | Richard Wylie | |
| Movie | 1974 | F. Scott Fitzgerald and the Last of the Belles | Capt. John Haines | |
| Movie | 2010 | Nature Amazing Places Hawaii | Narrates Program Two | |
| Movie | 1980 | Back to the Planet of the Apes | Pete Burke | |
| Movie | 1996 | The First Wives Club | Gill Griffin | |
| Movie | 1998 | Behind the Planet of the Apes | Self | |
| Movie | 2006 | The Devil Wears Prada | Stephen | |
| Movie | 2013 | Creepy Carrots | Narrator | |
| Movie | 2005 | Ernest Hemingway: Rivers to the Sea | Ernest Hemingway (voice) | |
| Movie | 1996 | The Proprietor | Texan | |
| Movie | 1976 | Diary of the Dead | George | |
| Movie | 2003 | Broadway: The Golden Age, by the Legends Who Were There | Self | |
| Movie | 1988 | The Good Mother | Brian Dunlop | |
| Movie | 1994 | Cagney & Lacey: The Return | James Burton | |
| Movie | 1995 | Cagney & Lacey: Together Again | James Burton | |
| Movie | 2021 | The Independents | Officer Sanders | |
| Movie | 1972 | Look Homeward, Angel | Ben Gant | |
| Movie | 1996 | Without Memory | Narrator | |
| Movie | 2021 | Broadway: Beyond the Golden Age | Self | |
| Movie | 2021 | Paul Newman, Behind Blue Eyes | Himself | |
| Movie | N/A | Sit with Me While I Die | Father Ethan | |
| TV Show | 1974 | Planet of the Apes | Pete Burke | 14 |
| TV Show | 1984 | Who's the Boss? | | 4 |
| TV Show | 1997 | Ally McBeal | George McBeal | 4 |
| TV Show | 1999 | Law & Order: Special Victims Unit | Charlie Moss | 2 |
| TV Show | 2005 | Out of Practice | | 1 |
| TV Show | 1987 | CBS Summer Playhouse | John Dockery | 1 |
| TV Show | 2001 | Law & Order: Criminal Intent | Dr. Roger Buckman | 1 |
| TV Show | 1988 | Raising Miranda | | 9 |
| TV Show | 1991 | Brooklyn Bridge | | 3 |
| TV Show | 1982 | Nature | Narrator (voice) | 2 |
| TV Show | 1994 | The Cosby Mysteries | | 18 |
| TV Show | 1983 | Trauma Center | Michael Royce | 13 |
| TV Show | 2009 | Warehouse 13 | Gilbert Radburn | 1 |
| TV Show | 1982 | Making the Grade | | 6 |
| TV Show | 1973 | Faraday and Company | Steve Faraday | 4 |
| TV Show | 1975 | Joe Forrester | | 1 |
| TV Show | 2007 | Gossip Girl | William van der Bilt | 10 |
| TV Show | 2013 | Golden Boy | Marvin Drexler | 1 |
| TV Show | 2010 | Blue Bloods | Chief Bell | 1 |
| TV Show | 2021 | And Just Like That… | Big's Brother | 2 |
| TV Show | 1990 | Law & Order | Barry Taggert | 1 |
| TV Show | 1997 | Liberty! | Patrick Henry | 6 |
| TV Show | 1977 | On Our Own | Barry Spaulding | 1 |
| TV Show | 2020 | Stars in the House | Self | 1 |
| TV Show | 2018 | The Romanoffs | Dmitri | 1 |
| TV Show | 1971 | Great Performances | Haemon | 1 |
| TV Show | 2023 | Command Z | Justice Frank Richardson | 1 |
| TV Show | 1967 | Mannix | Dr. Hanson | 1 |
