On television he has appeared in numerous series such as The Carol Burnett Show, Matlock, and Law & Order. In 1977, he starred in the short-lived series Rosetti and Ryan with Squire Fridell. In 1978 he guest starred on The Love Boat where he and Lauren Tewes' character, cruise ship Director Julie McCoy, fell in love but didn't pursue a relationship. (Roberts' character, a widowed father of two girls, eventually married someone else, much to Julie's bitter regret). On radio he was a regular performer on the CBS Radio Mystery Theater. Roberts also provides the narration on many, if not all, of the audio books in the Stone Barrington novels written by Stuart Woods.