His film roles include The Taking of Pelham One Two Three (1974), American Gigolo (1980), Leviathan (1989), Pretty Woman (1990), Beverly Hills Cop III (1994), Runaway Bride (1999), The Princess Diaries (2001), and Valentine's Day (2010).

His baseball skills were good enough for him to be scouted by both the San Francisco Giants and the Pittsburgh Pirates.

However, during his freshman year, he became a father and dropped out of college, going to work full-time to support his family.

[8] His first major success came when he played "God" in the guise of a Puerto Rican steam room attendant in Steambath, for his performance in which he won an Obie Award.

He was a member of the cast of the 1985–86 CBS situation comedy Foley Square, starring Margaret Colin.

[13] From 2011 to 2021, Elizondo played Ed Alzate on the Fox (formerly ABC) comedy Last Man Standing, starring Tim Allen and Nancy Travis.

[9] In 2023, Elizondo guest voiced a character, Romar Adell, a local of Serenno who went into hiding after the Empire bombarded the planet, on Star Wars: The Bad Batch.

[6] In April 2013, Elizondo participated in the Los Angeles Times Festival of Books, held at the University of Southern California, promoting children's reading.

[15][16] Proud of his Latino heritage, Elizondo has said he does not accept roles that he feels are stereotypical or demeaning in any way.