Lesure has had guest starring roles on number of television shows during 1990s, include Mad About You, Martin, Seinfeld, and NYPD Blue. His big break came in 1998, then he was cast as co-lead opposite Holly Robinson Peete in the NBC sitcom For Your Love. It was canceled after six episodes, but was picked up by The WB Network. It ran there for four years before its 2002 cancellation. From 2003 to 2008, he starred as Mike Cannon on the NBC comedy-drama Las Vegas.