Born in Brooklyn, New York, he is the son of actor Carmine Constanzo.[2]
He played softball in Los Angeles with actors Bruno Kirby and Leo Rossi in the late 1970s.
| Year | Title | Role | Notes | | 1977–82 | Barney Miller | Bill Kerlin, Ed Foronjy, Vincent Thorndyke | 3 episodes |
| 1978 | Rhoda | Male Student | Episode: "Rhoda Cheats" |
| 1978 | The Bob Newhart Show | Sal Petrone | Episode: "Crises in Education" |
| 1978 | Baretta | Kresler | Episode: "Woman Trouble" |
| 1978–79 | Joe & Valerie | Vincent Pizo | 6 episodes |
| 1978–83 | Alice | Lenny, Male Customer | 3 episodes |
| 1979 | Lou Grant | Tannenberg | Episode: "Romance" |
| 1979–80 | The Last Resort | Murray | 15 episodes |
| 1979–81 | The White Shadow | Mr. Pettrino | 4 episodes |
| 1981 | Soap | Carny | 1 episode |
| 1981 | Charlie's Angels | Mac Gossett | Episode: "Taxi Angels" |
| 1981 | Checking In | Hank Sabatino | 4 episodes |
| 1982 | Million Dollar Infield | Artie Levitas | Television film |
| 1982 | It's a Living | Vinnie the Hat | Episode: "Horsing Around" |
| 1982 | Police Squad! | Leo | Episode: "Rendezvous at Big Gulch (Terror in the Neighborhood)" |
| 1982, 1986 | Cagney & Lacey | Scafali, Monk | 2 episodes |
| 1982–88 | St. Elsewhere | Mr. Broadwater | 3 episodes |
| 1983 | Gimme a Break! | Mr. Brandt | Episode: "Glenlawn Street Blues" |
| 1983 | Blood Feud | Rocky | Television film |
| 1983 | We Got It Made | Mike | Episode: "David's Birthday" |
| 1984 | The New Mike Hammer | Ari Artel | Episode: "Seven Dead Eyes" |
| 1984 | Hill Street Blues | Lester Franco | 3 episodes |
| 1984 | Hunter | Benny | Episode: "Flight on a Dead Pigeon" |
| 1984 | Who's the Boss? | Robaire | Episode: "Dinner for Two" |
| 1984 | The Vegas Strip War | Stan Markham | Television film |
| 1984–87 | Family Ties | Various | 5 episodes |
| 1984 | The Ratings Game | Nunzio | Television film |
| 1985 | The Fall Guy | Duke | Episode: "Split Image" |
| 1985 | Street Hawk | Phil Simkins | Episode: "Follow the Yellow Gold Road" |
| 1985 | The Twilight Zone | Joe Rubello | Episode: "Healer/Children's Zoo/Kentucky Rye" |
| 1985 | Stir Crazy | Coach Lou Paterno | Episode: "The Football Story" |
| 1986 | ALF | Bert | Episode: "Baby, You Can Drive My Car" |
| 1986 | You Again? | Cop | Episode: "Good Neighbors" |
| 1986–87 | L.A. Law | Vinnie La Rosa | 3 episodes |
| 1986–95 | Murder, She Wrote | Det. Lt. Greco, Freddie, Rudlfo Petrocelli | 3 episodes |
| 1987 | Charles in Charge | Hank Holloway | Episode: "Feud for Thought" |
| 1987 | She's the Sheriff | Frankie Fontaine | Episode: "Mokey Business" |
| 1987 | Night Court | Santa | Episode: "Let It Snow" |
| 1988 | Tales from the Darkside | Vincent Dessari | Episode: "The Deal" |
| 1988 | Duet | Marty | Episode: "No Reservations" |
| 1988 | The Secret Life of Kathy McCormick | Sid | Television film |
| 1988 | Annie McGuire | Officer Murphy | Episode: "The Hold-Up" |
| 1988 | Day by Day | Max | Episode: "Won't You Be My Neighbor?" |
| 1989 | Columbo | Sgt. Russo | Episode: "Columbo Goes to the Guillotine" |
| 1989 | Quantum Leap | Chuck Thompson | Episode: "Camikazi Kid - June 6, 1961" |
| 1989 | The Next Generation | Slade Bender | Episode: "Manhunt" |
| 1989–90 | The Tracy Ullman Show | Big Tony Manetti | 2 episodes |
| 1990 | Glory Days | Lt. V.T. Krantz | 6 episodes |
| 1990 | The Golden Girls | Coach Odlivak | Episode: "Feelings" |
| 1990 | Uncle Buck | Bernie | Episode: "Fire Sale" |
| 1991 | Sisters | Sidney Getz | Episode: "80%" |
| 1991 | Sibs | Leo | Episode: "Audie's Bad Day" |
| 1991 | Growing Pains | Ernie | Episode: "The Young and the Homeless" |
| 1992 | Maid for Each Other | Lt. Jardine | Television film |
| 1992 | On the Air | Plumber | 1 episode |
| 1992 | Brooklyn Bridge | Mr. Cavaretti | 2 episodes |
| 1992 | Jack's Place | Moe Jablonski | Episode: "Forever" |
| 1992 | Bodies of Evidence | Detective Alfie | Episode: "The Cold Light of Day" |
| 1992 | Beverly Hills, 90210 | Clarence the Angel (voice) | Episode: "It's a Totally Happening Life" |
| 1992 | Civil Wars | DeRubumpre | Episode: "A Partridge in a Pair's Tree" |
| 1992–95 | The Animated Series | Detective Harvey Bullock (voice) | 21 episodes |
| 1993 | Doogie Howser, M.D. | Mr. Healy | Episode: "Eleven Angry People... and Vinnie" |
| 1993 | Almost Home | Big Bob Petrelli | Episode: "Bowling for Daddies" |
| 1993 | Bonkers | Crunchy Potato Chip (voice) | Episode: "Springtime for the Iguana" |
| 1993 | NYPD Blue | Alfonse Giardella | 6 episodes |
| 1993 | The Mommies | Santa #2 | Episode: "Christmas" |
| 1993 | Empty Nest | Millard | Episode: "Read All About It" |
| 1994 | Murder | Bobby Rebetta | Episode: "Shaker" |
| 1994 | The Fresh Prince of Bel-Air | Duke | Episode: "The Philadelphia Story" |
| 1994–95 | The New Adventures of Superman | Louie, Gun Shop Owner | 2 episodes |
| 1995 | Santo Bugito | Fingers (voice) | Episode: "Load 'O Bees" |
| 1995 | Friends | Joey Tribbiani, Sr. | Episode: "The One with the Boobies" |
| 1995 | Platypus Man | Sal | Episode: "Lou's the Boss" |
| 1995–96 | Charlie Grace | Artie Crawford | 9 episodes |
| 1996 | Duckman | Additional Voices | Episode: "A Room with a Bellevue" |
| 1996 | Mad About You | Door Guy | Episode: "Hot & Cold" |
| 1996 | Partners | Max Lobster | Episode: "You Quit?" |
| 1996 | Townies | Mr. Rosano | Episode: "The Life of Ryan" |
| 1997 | The Animated Series | Detective Harvey Bullock (voice) | Episode: "World's Finest" |
| 1997 | Kenan & Kel | Mr. Maniaci | Episode: "Safe and Sorry" |
| 1997 | Murphy Brown | Dry Cleaner | Episode: "Oh, Danny Boy" |
| 1997 | The Nanny | Juror #4 | Episode: "Samson, He Denied Her" |
| 1997 | Party of Five | Arnie Horn | Episode: "Hitting Bottom" |
| 1997 | Caroline in the City | Tony | Episode: "Caroline and the Ombudsman" |
| 1997 | Rugrats | Vinnie (voice) | Episode: "The Mattress/Looking for Jack" |
| 1997 | Teen Angel | Uncle Lou | Episode: "Steve & Marty & Jordan & Uncle Lou" |
| 1997–98 | The New Batman Adventures | Detective Harvey Bullock (voice) | 8 episodes |
| 1998 | Police Academy | Marcus Erroneous | Episode: "Angel on My Back" |
| 1998 | The Tony Danza Show | Charlie Falcone | Episode: "C'gar Face" |
| 1998 | Early Edition | Sal | Episode: "Blackout" |
| 1998 | The Magical World of Walt Disney | Philoctetes "Phil" (voice) | Recurring cast |
| 1998–99 | Hercules | Philoctetes "Phil" (voice) | 29 episodes |
| 1999 | DiResta | Vic DiResta | 5 episodes |
| 1999 | Ally McBeal | George Chisholm | Episode: "Civil War" |
| 1999 | Todd McFarlane's Spawn | Mr. Orvetti (voice) | Episode: "The Mindkiller" |
| 1999 | Cousin Skeeter | Mr. Schinkenslayer | Episode: "Two Men and a Baby Pig" |
| 2000 | G vs E | Dino Corfu | Episode: "Wonderful Life" |
| 2000 | Falcone | Jackie Savino | Episode: "Lealta" |
| 2000 | Bull | Pete | Episode: "To Have and to Hold" |
| 2000 | Norm | Tony DiBenedetto | Episode: "Norm vs. the Sacrifice" |
| 2000, 2006 | Family Guy | Biff, Louie Anderson, Danny DeVito (voices) | 2 episodes |
| 2001 | Kate Brasher | Larry | Episode: "Kate" |
| 2001 | 61* | Toots Shor | Television film |
| 2001 | Going to California | Al Weeks | Episode: "Hurricane Al: A Tale of Key Largo" |
| 2001 | Providence | Carlo | Episode: "Best Man" |
| 2001, 2003 | The Fairly OddParents | Easter Bunny (voice) | 2 episodes |
| 2001 | Call Me Claus | Teamster Santa | Television film |
| 2002 | As Told by Ginger | Chef Bob (voice) | Episode: "Fast Reputation" |
| 2002 | The Zeta Project | Titus Sweete (voice) | 2 episodes |
| 2002 | Disney's House of Mouse | Philoctetes "Phil" (voice) | Episode: "Donald Wants to Fly" |
| 2002 | Bram & Alice | Buddy Royal | Episode: "Paul-Pot" |
| 2003 | Static Shock | Detective Harvey Bullock (voice) | Episode: "Hard as Nails" |
| 2003 | Mickeypalooza | Philoctetes "Phil" (voice) | Television special |
| 2003 | ER | Pernicious Anemia Man | Episode: "No Strings Attached" |
| 2004 | Rock Me Baby | Franco | Episode: "Look Who's Talking" |
| 2004 | Helter Skelter | Leno LaBianca | Television film |
| 2004 | NCIS | Jimmy "Jimmy Naps" Napolitano | Episode: "The Bone Yard" |
| 2004 | Will & Grace | Paul | 2 episodes |
| 2005 | NY | Frank Meadows | Episode: "Recycling" |
| 2005 | Mind of Mencia | Italian Man | 1 episode |
| 2005 | The Young and the Restless | Hotel Desk Clerk | 1 episode |
| 2006 | Joey | Joseph "Joey" Tribbiani, Sr. | Episode: "Joey and the Dad" |
| 2006–10 | Days of Our Lives | Salvatore "Sal" Bandino, Motel Clerk | 8 episodes |
| 2007 | Dirt | Tony | Episode: "The Thing Under the Bed" |
| 2007 | Boston Legal | Wayne Picker | Episode: "Duck and Cover" |
| 2007, 2010 | Hannah Montana | Al Blaine, Jersey Guy | 2 episodes |
| 2008 | The Spectacular Spider-Man | Sullivan Edwards (voice) | Episode: "Intervention" |
| 2009 | Random! Cartoons | Bossman (voice) | Episode: "Flavio" |
| 2009 | Reno 911! | Don Bronzoni | Episode: "Dangle's Murder Mystery: Part 1" |
| 2009 | Castle | Sal Tenor | Episode: "A Death in the Family" |
| 2013 | Kickin' It | Harvey | Episode: "Queen of Karts" |
| 2015 | About a Boy | Dennis the Deceiver | Episode: "About a Babymoon" |
| 2016 | 2 Broke Girls | Luigi | Episode: "And the Show and Don't Tell" |
| 2016 | Modern Family | Earl Chambers | Episode: "Revenge of Rod Skyhook" |
| 2017 | 9JKL | Massimo | Episode: "High Steaks" |
| 2018 | OK K.O.! Let's Be Heroes | Big Cheese (voice) | Episode: "Action News" |
| 2018 | Champions | Uncle Bud | 8 episodes |
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1. ^{{cite web|work=The New York Times|title=Robert Costanzo|url=https://www.nytimes.com/movies/person/15224/Robert-Costanzo}}
2. ^{{cite web|url=https://www.imdb.com/film/92/Robert-Costanzo.html|work=filmreference.com|title=Robert Costanzo Biography}}
3. ^[https://www.imdb.com/name/nm0182456 Filmography of Robert Costanzo]