Willard was arrested earlier this month when police apparently caught him touching his genitals in an adult movie theatre.
The comic was fired as host of PBS's Market Warriors in the aftermath, over concerns from executives that he could be a "distraction" for viewers.
ABC confirmed on Monday (July 30) that the Willard-hosted improvisational comedy series Trust Us with Your Life will not air its two remaining episodes.
It will be replaced in ABC's Tuesday night line-up with reruns of Wipeout.
Willard has denied all allegations against him, but will reportedly sign up for a counselling programme to avoid jail time.
He told Late Night with Jimmy Fallon last week that the matter has been "very painful".
"It's very embarrassing. It's embarrassing as hell! But let me say this: nothing happened. I did nothing wrong, everything's being sorted out as we speak," Willard insisted.
The actor is perhaps best known for his roles in Best in Show, Everybody Loves Raymond and Modern Family.