In 1979, Gilyard moved to Los Angeles to become an actor. He became the first African American actor to undertake the role of the Cheerleader in the play Bleacher Bums before he segued into television roles. As a character actor, Gilyard has made guest appearances on TV shows such as Diff'rent Strokes, The Facts of Life, 227, Simon & Simon and Riptide. In 1982–1983, Gilyard was cast in the final season of the NBC TV series CHiPs as Officer Benjamin Webster, opposite Erik Estrada. He co-starred with Jim Carrey in the 1984 NBC sitcom, The Duck Factory.