After departing from Criminal Minds, Moore landed the lead role of Matthew Taylor in the 2016 rom-com The Bounce Back, which he also executive produced. The film looked like it might be Moore's chance to break the mold, as he went from portraying an FBI Special Agent to playing an unlucky-in-love, self-styled "relationship expert." (Given Moore's own romantic history, perhaps that wasn't too much of a stretch.) Directed by Youssef Delara, The Bounce Back received respectable reviews from critics and audiences, but it didn't garner any kind of sweeping, worldwide attention or acclaim.

The actor also continued lending his voice to the character of Victor Stone (a.k.a. Cyborg) across several animated projects — 2017's Justice League vs. Teen Titans, 2018's The Death of Superman, 2019's Reign of the Supermen, and 2020's Justice League Dark: Apokolips War — which he had done even when he was still working on Criminal Minds, starting with 2014's Justice League: War and carrying on with 2015's Justice League: Throne of Atlantis.

In 2017, Moore went back to television and began starring on another CBS crime dramaS.W.A.T., a remake of ABC's short-lived '70s cop series. On the show, which is still airing as of March 2020, he portrays Sergeant Daniel "Hondo" Harrelson, a beloved Los Angeles native who knows the city and its community inside and out, making his job on the LAPD a bit easier. Moore told CBS This Morning in October 2017 that his role on S.W.A.T. is his "dream job."

"This is my dream job because I've always believed what I'm capable of. I get to be a lead, which I'm proud of, but I'm also smart enough and humble enough to know that I can't do it by myself and that it's not all about me," said Moore. "So what I'm really proud of with S.W.A.T. is that I get to be a leader."

It was certainly sad to see Moore leave Criminal Minds, but fans can take heart knowing that he truly did end up in a better place.