During the fourth season (1960–1961) of Perry Mason, Held appeared as Bruce Nesbitt in the episode "The Case of the Angry Dead Man". Later that season, he appeared as the defendant David Gideon in "The Case of the Grumbling Grandfather." He appeared as Gideon in eight more episodes in the fifth season (1961–1962) in a "legal eagle" aspiring law student role, assisting Perry in uncovering evidence to aid Mason's clients accused of murder.
Held is best known for his role as Garth in the 1980s soap opera Falcon Crest, which he played for three seasons from 1987 to 1989.
Other TV credits include: 77 Sunset Strip, The Outer Limits, The Big Valley, The Girl from U.N.C.L.E., Flipper, The Fugitive, Daktari, Star Trek, The Invaders, Mission: Impossible, The Lotus Eaters, Space: 1999, Return of the Saint, The Aphrodite Inheritance, The Incredible Hulk, Charlie's Angels, Taxi, St. Elsewhere, MacGyver, Scarecrow and Mrs. King, Riptide,The Rebel and L.A. Law.