He is known for his roles in My Sister Sam, Six Feet Under, The Mostly Unfabulous Social Life of Ethan Green and Phil of the Future. Brooks also had a recurring role as a psychologist in Ally McBeal.
In 1980, he played Gene Wilder & Richard Pryor's lawyer in the movie Stir Crazy. Brooks was on Pyramid in 1976 and won $10,000. His celebrity partner was Lucie Arnaz. Arnaz and Brooks appeared on the same week of shows as celebrity partners in 1988. Brooks also appeared on an episode of M*A*S*H as a wounded Italian soldier who fell in love with Margaret and refused to be shipped back to his unit, because of his undying love for her. He played gay Secret Service Agent Randy in the short run of Hail To The Chief. He also appeared in two episodes of Three's Company as Dr. Prescott, a psychologist that Jack sees to build up his self-confidence, and in an episode of Star Trek: Deep Space Nine as Falow in the episode "Move Along Home".
Recently, he appeared in an episode of The Big Bang Theory as a Jewish professor that Sheldon seeks advice from in the episode "The Jerusalem Duality".
Brooks is currently involved in teaching an audition techniques class, Auditions LA.