Cagney & Lacey different characters. Daly guest-starred in an episode of Gless's 1990 series "The Trials of Rosie O'Neill"; Gless then guest-starred in 2003 on an episode of Daly's successful TV series, "Judging Amy", while Daly appeared in 2010 in an episode of Gless's new series, "Burn Notice". On May 8, 2007, MGM Home Entertainment and 20th Century Fox Home Entertainment released Season 1 of "Cagney & Lacey" on DVD in Region 1. The release coincided with the 25th anniversary of the series and it features the first full season of the show (which is actually the second season of the series) when
Andy Daly IFC's "Comedy Bang! Bang!" as well as "Adventure Time", for which he provided the voices of Wyatt and The King of Ooo. He is also the voice of Krombopolous Michael on "Rick and Morty". Daly appeared in the NBC sitcom "The Paul Reiser Show", which was a midseason replacement for the 2010–11 television season. The show was cancelled after two episodes. Starting in 2014, Daly has guest starred in the ABC sitcom "Modern Family" as Principal Brown and has also played recurring roles on ABC’s "Blackish", HBO’s "Silicon Valley", and NBC’s "Trial & Error". From 2014 to 2017, Daly starred