| 2025 | Sin | Elijah |
| 2024 | Những Người Bạn Tưởng Tượng | Lewis (voice) |
| 2023 | Màu Tím | Ol' Mister |
| Outlaw Johnny Black | Reverend Tharrington (voice) (uncredited) |
| 2022 | Sidney | Self |
| Three Months | Benny |
| 2021 | Not to Forget | Pastor John |
| I Forgive | God (voice) |
| 2020 | The Reason | Pastor Jim |
| The Cuban | Luis Garcia |
| Miracle in East Texas | Irving Tanner Jr. |
| 2019 | Foster Boy | Judge George Taylor |
| Supervized | Pendle |
| The Gang Activists | Self |
| Hal | Self |
| 2018 | Breaking Brooklyn | Miles Bryant |
| 2017 | Lorraine Hansberry: Sighted Eyes / Feeling Heart | Self |
| Undercover Grandpa | Mother |
| Double Play | Coco |
| King of the Dancehall | The Bishop |
| 2016 | Maya Angelou: And Still I Rise | Self |
| A.C. Green: Iron Virgin | Himself |
| 2015 | Boiling Pot | Detective Haven |
| 2014 | Đội Quân Cảm Tử | Lou Jones |
| A Fighting Man | Cubby |
| 2013 | Miracle at Gate 213 | Roy Peddington |
| Breaking at the Edge | Floyd |
| 2012 | Smitty | Mr. Smith |
| The Undershepherd | Bishop Redford |
| 2011 | Dog Jack | Grown up Jed |
| The Grace Card | George Wright |
| 2010 | Why Did I Get Married Too? | Porter |
| 2009 | The Perfect Game | Cool Papa Bell |
| Amazing Racer | Max Donovan |
| The Least Among You | Samuel Benton |
| Why We Laugh: Black Comedians on Black Comedy | Self |
| 2008 | Delgo | King Zahn (voice) |
| Stanley Kramer: A Man's Search for Truth | Self |
| A Love Story of Today | Self |
| A Special Kind of Love | Self |
| The Black List: Volume One | Self |
| 2007 | Stories USA | Doc (segment "Club Soda") |
| Cover | Detective Hicks |
| Daddy's Little Girls | Willie |
| The 50 Greatest Television Dramas | Self |
| 2006 | Club Soda | Doc |
| Solar Strike | President Ryan Gordon |
| All In | Caps |
| 2005 | Left Behind: World at War | President Geral Fitzhugh |
| Lackawanna Blues | Ol'lem Taylor |
| 2003 | Jasper, Texas | R.C. Horn |
| Momentum | Raymond Addison |
| 2002 | What About Your Friends: Weekend Get-Away | Dr. Barnes |
| Deceived | Col. David Garrett |
| 2001 | For Love of Olivia | Daniel Stewart |
| Dr. Lucille | — |
| 2000 | The Color of Love: Jacey's Story | Lou Hastings |
| The Inspectors 2: A Shred of Evidence | Frank |
| The Highwayman | Phil Bishop |
| 1999 | Strange Justice | Vernon Jordan |
| Y2K | Morgan |
| Love Songs | Reuben |
| 1998 | The Inspectors | Inspector Frank Hughes |
| The Wall That Heals | Self - Host |
| Legend of the Mummy | Corbeck |
| Small Steps, Big Strides: The Black Experience in Hollywood | Self |
| 1997 | In His Father's Shoes | Frank Crosby / Richard |
| To Dance with Olivia | Daniel Stewart |
| 1996 | Inside | Questioner |
| Run for the Dream: The Gail Devers Story | Bob Kersee |
| Captive Heart: The James Mink Story | James Mink |
| Managua | Paul |
| 1995 | Iron Eagle IV | Charles 'Chappy' Sinclair |
| The First 100 Years: A Celebration of American Movies | Self |
| Ray Alexander: A Menu for Murder | Ray Alexander |
| Zooman | Rueben Tate |
| A Father for Charlie | Walter Osgood |
| Kings of the Ring: Four Legends of Heavyweight Boxing | Narrator |
| 1994 | Flashfire | Ben Durand |
| Curse of the Starving Class | Ellis |
| A Good Man in Africa | Prof. Sam Adekunle |
| Ray Alexander: A Taste For Justice | Ray Alexander |
| Blue Chips | Father Dawkins (uncredited) |
| 1993 | Monolith | Capt. MacCandless |
| Father & Son: Dangerous Relations | Leonard Clay |
| 1992 | Liberators: Fighting on Two Fronts in World War II | Reader (voice) |
| Gridiron Gang | Host |
| Diggstown | "Honey" Roy Palmer |
| Iron Eagle III | Charles 'Chappy' Sinclair |
| 1991 | Keeper of the City | Det. James Dela |
| Carolina Skeletons | James Bragg |
| Toy Soldiers | Dean Parker |
| The Josephine Baker Story | Sidney Williams |
| Cover-Up | Lou Jackson |
| 1990 | Sudie and Simpson | Simpson |
| El Diablo | Van Leek |
| Zora is My Name! | — |
| 1989 | The Punisher | Jake Berkowitz |
| 1988 | Roots: The Gift | Fiddler |
| Goodbye, Miss 4th of July | Big John Creed |
| Iron Eagle II | Charles 'Chappy' Sinclair |
| Sam Found Out: A Triple Play | Sam |
| Straight Up | Cosmo |
| 1987 | The Father Clements Story | — |
| The Principal | Jake Phillips |
| Happy 100th Birthday, Hollywood | Self |
| A Gathering of Old Men | Mathu |
| 1986 | Firewalker | Leo Porter |
| Iron Eagle | Charles 'Chappy' Sinclair |
| 1985 | Enemy Mine | Jeriba 'Jerry' Shigan |
| 1984 | The Guardian | John Mack |
| Finders Keepers | Century |
| 1983 | Hàm Cá Mập 3D | Calvin Bouchard |
| The Making of Jaws 3-D: Sharks Don't Die | narrator |
| 1982 | An Officer and a Gentleman | Sergeant Emil Foley |
| Benny's Place | Benny Moore |
| I Love Liberty | Self |
| 1981 | Don't Look Back: The Story of Leroy "Satchel" Paige | Leroy 'Satchel' Paige |
| 1980 | It Rained All Night the Day I Left | Leo Garcia |
| 1979 | The Lazarus Syndrome | Dr. MacArthur St. Clair |
| Lawman Without a Gun | Tom Hayward |
| 1978 | To Kill a Cop | Everett Walker |
| The Sentry Collection Presents Ben Vereen: His Roots | Self |
| 1977 | Freeman | Rex |
| The Choirboys | Calvin Motts |
| The Deep | Henri Cloche |
| Little Ladies of the Night | Russ Garfield |
| 1976 | J.D.'s Revenge | Rev. Elija Bliss |
| The River Niger | Dr. Dudley Stanton |
| 1975 | Delancey Street: The Crisis Within | Otis James |
| Black Bart | Black Bart |
| 1974 | The White Dawn | Portagee |
| Sidekicks | Jason O'Rourke |
| It's Good to Be Alive | Sam Brockington |
| 1973 | The Laughing Policeman | Insp. James Larrimore SFPD |
| 1972 | Travels with My Aunt | Wordsworth |
| 1971 | Skin Game | Jason O'Rourke |
| 1970 | The Landlord | Copee Johnson |
| 1969 | The Bushbaby | Tembo |
| 1968 | Companions in Nightmare | Lt. Adam McKay |
| 1961 | A Raisin in the Sun | George Murchison |
| 1960 | The New Girl | Mary's Brother |