Kilpatrick had a theatrical run in the Los Angeles Theater for the Shakespeare play Anthony and Cleopatra. He has appeared in many television series, including Lois & Clark: The New Adventures of Superman (1994), Walker, Texas Ranger (1994), Babylon 5 (1995), Dr. Quinn, Medicine Woman as Sergeant O'Connor for 9 episodes from 1996 to 1997, ER (1997), The X-Files (2001), General Hospital (2003), CSI: Crime Scene Investigation (2005), 24 (2005), Terminator: The Sarah Connor Chronicles (2008) and Chuck ("Chuck Versus the Gravitron"). In 1995, he co-starred in the Star Trek: Voyager episode "Initiations", in the 2000 episode "Drive" and in 1998 Star Trek: Deep Space Nine episode entitled "The Siege of AR-558".