Walsh made occasional guest appearances on "Home Improvement" as Tim Taylor's father-in-law. In 1992, he appeared as a powerful U.S. Senator in David Winning's "Killer Image". In "Christmas with the Kranks", he played one of the Kranks' neighbors. He also appeared as Alex Lembeck, a motorcycle cop who appointed himself as Sandy Stockton's chaperone and protector on "The Sandy Duncan Show" in 1972. He appeared in an episode of the NBC drama series "Gibbsville" in 1976 and "Little House on the Prairie" in 1981. He appeared as Dr. Joseph Kroft, a medical examiner with a grudge against Sipowicz, on an episode of “NYPD Blue”.