- In 2007, received Grammy for Best Spoken Word Album
- In 2001, received NAACP Image Award for Outstanding Supporting Actor in a Drama Series
- In 2000, received Daytime Emmy for Outstanding Performer in a Children's Special
- In 2000, received Screen Actors Guild for Life Achievement Award
- In 1999, received NAACP Image Award for Outstanding Supporting Actor in a Drama Series
- In 1995, received National Medal of Arts Award
- In 1991, received NAACP Image Award for Outstanding Supporting Actor in a Motion Picture
- In 1984, received Writers Guild of America for Adapted Drama Anthology
- Received Neil Simon Award
