Worthy was born in Detroit, Michigan; his father worked in the Automotive industry. Worthy studied Tae Kwon Do at a young age. He graduated from Southfield Senior High School in 1985 and from the University of Michigan School of Music, Theatre & Dance in 1990.
His first big break came as Rickey Latrell, a basketball player accused of murder, on the television show Murder One in 1996.
He has had several roles within the Star Trek franchise. He has played several aliens, and one human, in Star Trek: Deep Space Nine, Star Trek: Voyager and Star Trek: Enterprise. He also had a supporting role in the 1998 film Star Trek: Insurrection.
He guest-starred in "The Warrior", a 2001 episode of Stargate SG-1, where he made use of his Tae Kwon Do and stunt fighting skills as the Goa'uld Imhotep.
He appeared on the 2003–09 re-imagined version of Battlestar Galactica as Cylon model number Four, often referred to as "Simon".
He worked on a short-lived 2005 private-eye drama on ABC, Eyes.
He had a large role on the 2006 ABC Family miniseries Fallen.
Worthy appeared in four episodes of Heroes in 2009, playing "Mike", Matt Parkman's partner, an experienced and capable Los Angeles cop. He also had a part in the TV series Supernatural, playing the unnamed Alpha Vampire in two episodes of Season 6, one episode of season 7 and one episode of season 12.
Worthy was featured in the 2012 documentary That Guy... Who Was in That Thing, about character actors. During the documentary Worthy is brought to tears while describing his devotion to acting nearly leading to him ending up homeless. He credits a small recurring role on an American Soap Opera show, during which he rode his bicycle to the studio due to having sold off his car to pay his rent, as saving his acting career.
