The Minotaur is the minor antagonist in Hercules and the hidden secondary antagonist of Hercules: Zero to Hero.
In the first film, the Minotaur plays very little part. He is seen with Medusa and Griffin and all three of them try to attack Hercules but knocks them down during the musical number "Zero to Hero." much to Hades annoyance.
Hercules: Zero to Hero
In the midquel, the Minotaur has has been toppling temples until Hercules and Theseus, under the guise of the Grim Avenger, arrests and takes him to Zeus, who then has him placed back in the labyrinth.