Raúl Eduardo Esparza (born October 24, 1970) is an American stage, television and voice actor, best known for his role as New York Assistant District Attorney (ADA) Rafael Barba in "" where he had a recurring role in Season 14 and was promoted to a series regular in Seasons 15 to 19. He received Tony nominations for his roles as Philip Salon in the Boy George musical "Taboo" in 2004; Robert in the musical comedy "Company" in 2006; Lenny in Harold Pinter's play "The Homecoming" in 2008; and Charlie Fox in David Mamet's play "Speed-the-Plow" in 2009. He played Riff Raff in the 2000 Broadway revival of "The Rocky Horror Show" and Caractacus Potts in the original Broadway production of "Chitty Chitty Bang Bang" in 2005.