In 1994, Yoba began his role on the popular Fox police drama series
New York Undercover, opposite
Michael DeLorenzo. Yoba and DeLorenzo made television history, as the series was the first police drama on American television to feature two people of color in the starring roles. Yoba's work on
New York Undercover earned him three consecutive
NAACP Image Awards for Outstanding Actor in a Drama Series (in 1996, 1997, and 1998). An accomplished singer and stage actor, Yoba's talents were showcased in
His Woman His Wife, in which he had the lead role. Yoba has also appeared in films such as
Cool Runnings and
Criminal. He has made appearances on the FOX television series
Arrested Development as Ice, a
bounty hunter whose real love is party planning. Yoba had a recurring role as Brock Harris on the
UPN sitcom
Girlfriends. He also appeared in the
FX Network's crime drama
Thief and the
NBC crime drama
Raines. He appeared as Gavin in the 2007
Tyler Perry film
Why Did I Get Married? and its 2010 sequel
Why Did I Get Married Too? In 2009, he co-starred as astronaut Ted Shaw on the futuristic
ABC drama
Defying Gravity. In 2010, he announced his plans to bring back
New York Undercover to the small screen in a modern TV series adaptation of the original series.
Law & Order writer Courtney Parker penned a spec script for networks to bid on. From 2011 to 2012, Yoba appeared as former
FBI Special Agent Bill Harken on
Alphas, a science fiction drama series about a team of people with special abilities who belong to a secret department attached to the
Defense Department. In 2013, Yoba joined the cast of
Revolution as Jim Hudson, a former captain of the Monroe Republic. In 2015, he joined the cast of
Lee Daniels'
Empire as Vernon Turner,
Lucious Lyon's business partner and chairman of Empire Entertainment, playing the character through the first season. In 2019, Yoba premiered his one-man stage play,
Harlem to Hollywood, at New York's
Apollo Theater.{{cite web |url=https://edition.cnn.com/2016/09/22/entertainment/malik-yoba-designated-survivor/index.html|title=Malik Yoba takes on a new role == Other ventures ==