Velez got his first TV series role in the TV series Charlie & Co., his other TV role was on the soap opera Capitol in 1986 as Alonzo. Later that year he starred in the NBC TV series The A-Team as Frankie "Dishpan" Santana from 1986 (with one remaining episode broadcast in 1987) as a new member of the team, a special-effects expert. Velez's other TV roles were in the series Trial and Error in 1988 as John Hernandez. He starred in True Blue as Officer Frankie Avila. Velez has made guest appearances on various programs, including Cagney & Lacey, JAG, Hill Street Blues, Walker, Texas Ranger, Pacific Blue, Charmed, and Numb3rs.