We present a catalog of 4195 optically confirmed Sunyaev-Zel'dovich (SZ) selected galaxy clusters detected with signal-to-noise > 4 in 13,211 deg$2$ of sky surveyed by the Atacama Cosmology Telescope (ACT). Cluster candidates were selected by applying a multi-frequency matched filter to 98 and 150 GHz maps constructed from ACT observations obtained from 2008-2018, and confirmed using deep, wide-area optical surveys. The clusters span the redshift range 0.04 < z < 1.91 (median z = 0.52). The catalog contains 222 z > 1 clusters, and a total of 868 systems are new discoveries. Assuming an SZ-signal vs. mass scaling relation calibrated from X-ray observations, the sample has a 90% completeness mass limit of M500c > 3.8 x 10$\mathrm{<mrow\; data-mjx-texclass="ORD">14</mrow>}$ MSun, evaluated at z = 0.5, for clusters detected at signal-to-noise ratio > 5 in maps filtered at an angular scale of 2.4'. The survey has a large overlap with deep optical weak-lensing surveys that are being used to calibrate the SZ-signal mass-scaling relation, such as the Dark Energy Survey (4566 deg$2$), the Hyper Suprime-Cam Subaru Strategic Program (469 deg$2$), and the Kilo Degree Survey (825 deg$2$). We highlight some noteworthy objects in the sample, including potentially projected systems; clusters with strong lensing features; clusters with active central galaxies or star formation; and systems of multiple clusters that may be physically associated. The cluster catalog will be a useful resource for future cosmological analyses, and studying the evolution of the intracluster medium and galaxies in massive clusters over the past 10 Gyr.