| Year | Title | Role | Notes |
|---|
| 1969 | N.Y.P.D. | Policeman | "No Day Trippers Need Apply" |
| 1970 | Dark Shadows | Policeman | Episode #1.1034 |
| 1971 | Police Story | Ellison | "The Wyatt Earp Syndrome" |
| 1974 | Get Christie Love! | Murray Gordon | "Downbeat for a Dead Man" |
| 1975 | Joe Forrester | (credited as Phil Allen) | "Powder Blue" |
| The Mary Tyler Moore Show | Gus Brubaker | "Mary's Delinquent"
"Mary Richards: Producer" |
| The Bob Newhart Show | Dr. Frank Walburn | "Seemed Like a Good Idea at the Time"
"My Business Is Shrinking" |
| 1976 | Quincy, M.E. | Floyd Baker | "A Star Is Dead" |
| Kojak | Andy Cooper | "The Forgotten Room" |
| Most Wanted | Warren | "The Two Dollar Kidnappers" |
| 1977 | The Streets of San Francisco | Tim Rossiter | "Monkey Is Back" |
| The Hardy Boys/Nancy Drew Mysteries | Everett | "The Mystery of the Diamond Triangle" |
| Washington: Behind Closed Doors | Walter Tulloch | TV miniseries |
| The Tony Randall Show | Glazer | "Skin Game" |
| Lou Grant | Fred Sackler | "Psych-Out" |
| Kojak | Lt. Williamson | "The Summer of '69: Part 1" |
| 1978 | Eight Is Enough | Samuel Benchley | "Much Ado About Garbage" |
| Baa Baa Black Sheep | Commander of Squadron 367 (credited as Phillip Richard Allen) | "Forbidden Fruit" |
| Baretta | Mike Parks | "The Stone Conspiracy" |
| C.P.O. Sharkey | Erickson | "Fear of Flying" |
| Husbands, Wives & Lovers | Dan Pinewood | "Six Characters Flunk a Sex Quiz and Go Somewhere to Do Something About It" |
| Quincy, M.E. | Dr. Finley | "Speed Trap" |
| ABC Afterschool Specials | Jim Radigan | "Gaucho" |
| The Hardy Boys | Harry Gibbon | "Dangerous Waters" |
| Lou Grant | Sackler | "Renewal" |
| 1979 | The Bad News Bears | Roy Turner | "First Base"
"Fielder's Choice"
"Men Will Be Boys"
"The Kelly Story" |
| 1980 | The Bad News Bears | Roy Turner | "Double Play"
"Old Timers' Day"
"Wedding Bells: Part 2" |
| A Rumor of War | Col. Perry (credited as Phillip Allen) | TV mini-series |
| Hagen | Malone (credited as Phillip Richard Allen) | "Hagen (Pilot)" |
| Lou Grant | David Marcus | "Hazard" |
| 1981 | Bosom Buddies | Dr. Leon | "Sonny Boy" |
| Happy Days | Eddie Monroe - College Recruiter | "Scholarship" |
| The Misadventures of Sheriff Lobo | Mr. Gregory | "Lobo and the Pirates" |
| Lou Grant | Marvin Hartley | "Stroke" |
| Dallas | Lloyd Bettinger | "The Big Shut Down" |
| Alice | Mitch Aames | "Alice's Halloween Surprise" |
| Hart to Hart | Doctor | "Harts Under Glass" |
| 1982 | Cassie & Co. | Schelling | "The Golden Silence" |
| Open All Night | Jimbo | "Such Good Friends" |
| Alice | Mitch Aames | "The Valentine's Day Massacre" |
| Mork & Mindy | George Logan | "Cheerleader in Chains" |
| Private Benjamin | Bruce | "Astro-Chimp" |
| 1983 | Benson | Collins | "The Governor's Brain Is Missing" |
| 1984 | Cover Up | Detective Zaneck | "Harper-Gate" |
| Too Close for Comfort | Fitzgerald | "The Missing Fink" |
| The Fall Guy | Boyd | "Sandcastles" |
| 1987 | The Bronx Zoo | Mr. Reese (credited as Phillip Richard Allen) | "The Power of a Lie"
"Runaway Hearts" |
| The New Mike Hammer | Mr. Milo | "A Face in the Night" |
| 1988 | Matlock | Robert Bell (credited as Phillip Richard Allen) | "The Body " |
| Houston Knights | (credited as Phillip Richard Allen) | "Vigilante" |
| 9 to 5 | Paul | "Strictly Personal" |
| 21 Jump Street | Mr. Wilder (credited as Phillip Richard Allen) | "Champagne High" |
| Probe | Lou McNally | "Quit-It" |
| Out of This World | Mr. Rogers | "Broadway Danny Derek" |
| 1989 | Designing Women | Tom Ketcherside | "The Naked Truth" |
| 1990 | Out of This World | Mike Rollins | "A Kinder, Gentler Mayor" |
| 1991 | Law & Order | D.A. Davis (credited as Phillip R. Allen) | "The Torrents of Greed: Part 1"
"The Torrents of Greed: Part 2" |
| 1993 | Homefront | Smith | "By Word or Act" |
| 2004 | Center of the Universe | Al (The Coachman) | " And the Silver Medal Goes To..." |
| 2009 | The Londoners | Richard Mansfield | Episode #2.16, (final appearance) |
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