The following is the complete filmography of American actor Michael Madsen.
| Year | Title | Role | Notes |
|---|
| 1983 | St. Elsewhere | Mike O'Connor | 2 episodes |
| 1983 | Special Bulletin | Jimmy Lenox | Television film |
| 1984 | Cagney & Lacey | Boyd Evans Strout | Episode: "Heat" |
| 1984 | Miami Vice | Sally Alvarado | Episode: "Give a Little, Take a Little" |
| 1985 | Deadly Nightmares | John Hampton | Episode: "Man at the Window" |
| 1985–1986 | Our Family Honor | Augie Danzig | 13 episodes |
| 1986 | Crime Story | Johnny Fosse | 2 episodes |
| 1988 | War and Remembrance | Lt. "Foof" Turhall | Episode: "Part I" |
| 1989 | Almost Grown | Walter Zmuida | Episode: "Take It Slow" |
| 1989 | Tour of Duty | Sergeant Greg Block | Episode: "Sleeping Dogs" |
| 1989 | Jake and the Fatman | Chase | Episode: "Snowfall" |
| 1989 | Quantum Leap | Blue | Episode: "Jimmy - October 14, 1964" |
| 1990 | Montana | Pierce | Television film |
| 1990 | The Outsiders | Mick Jenkins | Episode: "The Beat Goes On" |
| 1991 | Gabriel's Fire | Stan Frankel | Episode: "Finger on the Trigger" |
| 1992 | Baby Snatcher | Cal Hudson | Television film |
| 1992 | Beyond the Law | Blood | Television film |
| 1998–1999 | Vengeance Unlimited | Mr. Chapel | 15 episodes |
| 2000 | High Noon | Frank Miller | Television film |
| 2001 | Big Apple | Terry Maddock | 8 episodes |
| 2001–2005 | Animal Precinct | Narrator (voice) | Television documentary |
| 2003 | The North Hollywood Shoot-Out | Detective Frank McGregor | Television film |
| 2004 | Frankenstein | Detective Harker | Television film |
| 2005 | Tilt | Donovan 'The Matador' Everest | 9 episodes |
| 2007 | Croc | Croc Hawkins | Television film |
| 2008 | Crash and Burn | Vincent Scaillo | Television film |
| 2010 | Miami | Cooper "Coop" Daly | Episode: "L.A." |
| 2010 | 24 | Jim Ricker | 4 episodes |
| 2012 | Bob's Burgers | Kevin Costner (voice) | Episode: "Moody Foodie" |
| 2012 | Piranhaconda | Professor Lovegrove | Television film |
| 2012 | Blue Bloods | Benjamin Walker | Episode: "Family Business" |
| 2012–2013 | The Mob Doctor | Russell King | 3 episodes |
| 2013 | Golden Boy | Walter Clark Sr. | 2 episodes |
| 2013 | Axe Cop | Baby Man (voice) | Episode: "No More Bad Guys" |
| 2014 | Hawaii Five-0 | Roy Parrish | Episode: "Na hala a ka makua" |
| 2015 | Big Time in Hollywood, FL | Harvey Scoles | 5 episodes |
| 2016 | Powers | Patrick / Supershock | 7 episodes |
| 2016 | Those Who Can't | Officer Callahan | Episode: "Wet Dreams May Come" |