Moore played the role of Malcolm Winters on The Young and The Restless for eight years. In November 2004, he returned to The Young and the Restless after originally planning to leave the show, but after a few months he dropped back to recurring status and left in September 2005. In 2007, he said, "My time is done on Y&R. I did eight solid years as Malcolm.”
He was the host of the syndicated version of the series Soul Train from 2000 until 2003 and appeared in the 2001 feature film The Brothers. He portrayed Detective Jesse Reese on the television series Birds of Prey from 2002 to 2003. Moore played the role of Emery Simms in the 2004 film Motives alongside Vivica Fox and Golden Brooks and had a supporting role in the film Diary of A Mad Black Woman. He also appeared in the romantic comedy The Seat Filler with Kelly Rowland and Duane Martin.
In 2005, Moore began playing Derek Morgan in Criminal Minds. It was the seventh pilot in which he was cast.
He is signed to DNA Model Management in New York City. Moore appeared on the March 2009 issue of Men’s Fitness Magazine.