Tufeld moved to television in 1955,[4] working in ABC daytime programming and anchoring The Three Star Final, a 15-minute newscast on KABC-TV, Los Angeles.

[citation needed] Tufeld was often heard as the announcer on Disney television shows, including the 1957–1959 series Zorro starring future Lost in Space lead Guy Williams.

In 1954, he was cast in assorted roles in fifteen episodes of Gene Autry Productions's syndicated television series, Annie Oakley, which starred Gail Davis and Brad Johnson.

Tufeld is perhaps best known as the voice of the B9 Robot in the CBS television series Lost in Space, a role he reprised for the 1998 feature film.

He also provided narrations for many other Irwin Allen productions, such as ABC's Voyage to the Bottom of the Sea and The Time Tunnel, and did voice work for the 1978 animated television series Fantastic Four.