Film roles
- The Taking of Pelham One Two Three (1974) — Mr. Grey
- Cuba (1979) — Raphael Ramirez
- American Gigolo (1980) — Detective Sunday
- The Flamingo Kid (1984) — Arthur Willis
- Private Resort (1985) — The Meastro
- Nothing in Common (1986) — Charlie Gargas
- Overboard (1987) — Garbage Scow Skipper
- Beaches (1988) — Judge
- Leviathan (1989) — G.P. Cobb
- Pretty Woman (1990) — Barnard Thompson
- Taking Care of Business (1990) — Warden Frank Toolman
- Necessary Roughness (1991) — Ed Gennero
- Frankie & Johnny (1991) — Nick
- Beverly Hills Cop III (1994) — Jon Flint
- Getting Even with Dad (1994) — Lt. Romayko
- Exit to Eden (1994) — Dr. Martin Helifax
- Turbulence (1997) — Lt. Aldo Hines
- Runaway Bride (1999) — Fisher
- Entropy (1999) — The Chairman
- The Princess Diaries and The Princess Diaries 2: Royal Engagement (2001 and 2004) — Joe
- The Celestine Prophecy (2006) — Cardinal Sebastian
- Georgia Rule (2007) — Izzy
- Love in the Time of Cholera (2007) — Don Leo
- Valentine's Day (2010) — Edgar
- New Year's Eve (2011) — Lester Kominsky
- ''Mother's Day' (2016) — Lance Wallace
- Music (2021) — George
Live-action TV roles
- The Jackie Gleason Show (1969) — Unknown
- Columbo (1975) — Hasan in episode "A Case of Immunity"
- Hill Street Blues (1984) — Insp. Joe Keenan
- Down And Out In Beverly Hills (1987) — Dave Whiteman
- The Equalizer (1989) — Ray Quintero
- Chicago Hope (1994-2000) — Phillip Watters (had previously played the role in an episode of Picket Fences, and reprised it in an episode of Early Edition)
- The West Wing (2002) — Dr. Dalton Millgate
- Street Time (2002) — Fariz Hammound
- Without a Trace (2003) — Father Henry Stevens
- Grey's Anatomy (2007-2013) — Carlos Torres
- Cane (2007) — Pancho Duque
- Monk (2008-2009) — Neven Bell
- Last Man Standing (2011-2021) — Ed Alzate
Voice roles
- The Pirates of Dark Water (1991-1993) — Ioz
- Gargoyles (1994) — Zafiro
- Aladdin: The Series (1995) — Malcho
- Justice League (2001) — Kragger, Hath-set
- The Wild Thornberrys (2001) — Bald Eagle
- What's New, Scooby-Doo? (2002) — Dr. Gutierrez
- Batman: Mystery of the Batwoman (2003) — Bane
- Avatar: The Last Airbender and The Legend of Korra (2006 and 2013) — Wan Shi Tong
- El Tigre (2007) — Justice Jaguar
- ThunderCats (2011) — Viragor
- Jake And The Neverland Pirates (2014) — Captain Colossus
- The Book of Life (2014) — Carlos Sanchez
- Elena of Avalor (2016) — Fiero
- The LEGO Batman Movie (2017) — Commissioner Gordon
- Mickey and the Roadster Racers (2017) — Grandpa Beagle
