| Year | Title | Role | Notes |
|---|
| 1986–1989 | Miami Vice | Orlando Calderone, Angelo Alvarez | 3 episodes |
| 1991 | Mambo Mouth | Various characters | Television film |
| 1993 | Spic-O-Rama | Television special |
| 1995 | House of Buggin' | Creator, writer, producer; 10 episodes |
| 1997 | All That | Mocking Alien | 1 episode |
| 1998 | Freak | Himself | Television film |
| 2000 | Arabian Nights | Genie of the Ring/Genie of the Lamp | Miniseries; 2 episodes |
| 2000–2004 | The Brothers Garcia | Narrator | 45 episodes |
| 2002 | Sesame Street | Himself/Captain Vegetable | Episode: "Snuffy's Grandma Visits" |
| 2002 | Sexaholix...
A Love Story | Himself | Television film |
| 2004 | Dora the Explorer | Flying Monkeys, Mail Bird, Pirate Pig | Voice, 3 episodes |
| 2004 | Lugar Heights | Spanish Fly | Voice, 1 episode |
| 2005–2006 | ER | Dr.
Victor Clemente | 12 episodes |
| 2006 | My Name Is Earl | Uncle Diego | Episode: "South of the Border"
|