Esparza has also appeared in several films and episodes of TV series including Find Me Guilty, My Soul to Take, Custody, Ferdinand, Spin City, Pushing Daisies, Law & Order, Medium, Law & Order: Criminal Intent, BoJack Horseman, and more. He has also starred on stage and been nominated for Tony Awards. In 2018 he was nominated for an Imagen Foundation Award for Best Supporting Actor – Television for Law & Order: Special Victims Unit. Esparza has won multiple Drama Desk Awards.