| Year | Title | Role | Notes |
| 1968–1969 | That Girl | Assistant Librarian / Joan | Episodes: "Secret Ballot", "Fix My Screen & Bug Out" |
| 1969 | My Friend Tony | Janet | Episode: "Computer Murder" |
| Then Came Bronson | Claire | Episode: "The Runner" |
| 1970 | Love, American Style | Mary Agnes | Episode: "Love and the Pick-Up" segment |
| Barefoot in the Park | | Episode: "In Sickness and in Health" |
| The Wonderful World of Disney | Mayor's Secretary | Episodes: "The Wacky Zoo of Morgan City" (Parts 1 & 2) |
| 1971 | The Feminist and the Fuzz | Liberation Lady | Television film |
| Getting Together | Mona | Episode: "Those Oldies But Goodies Remind Me of You" |
| 1972–1974 | The Odd Couple | Myrna Turner | 27 episodes |
| 1972 | Evil Roy Slade | Bank Teller | Television film |
| The Super | Janice | Episode: "The Matchmaker" |
| The Bob Newhart Show | Stewardess | Episode: "Fly the Unfriendly Skies" |
| The Crooked Hearts | Waitress | Television film |
| The Couple Takes a Wife | Paula | Television film |
| 1973 | Banacek | Receptionist | Episode: "The Greatest Collection of Them All" |
| 1974–1975 | Paul Sand in Friends and Lovers | Janice Dreyfuss | 14 episodes |
| 1974–1976 | The Mary Tyler Moore Show | Toni / Paula Kovacs | Episodes: "I Was a Single for WJM", "Murray in Love", "Menage-a-Lou" |
| 1975 | Let's Switch! | Alice Wright | Television film |
| Wives | Connie | Television film |
| Chico and the Man | Anita Cappuccino | Episode: "Chico and the Van" |
| Saturday Night Live | Herself | Episode: "Rob Reiner" |
| 1975–1979 | Happy Days | Laverne DeFazio | 5 episodes |
| 1976 | Good Heavens | | Episode: "Take Me Out to the Ball Game" |
| 1976–1983 | Laverne & Shirley | Laverne DeFazio | 178 episodes |
| 1977 | Saturday Night Live | Herself | Episode: "Live from Mardi Gras" |
| Blansky's Beauties | Laverne DeFazio | Episode: "Nancy Remembers Laverne" |
| 1978 | Mork & Mindy | Laverne DeFazio | Episode: "Pilot" |
| More Than Friends | Matty Perlman | Television film |
| 1979 | Carol Burnett & Company | Herself | Episode |
| 1981–1982 | Laverne & Shirley in the Army | Laverne DeFazio | Voice, 13 episodes |
| 1982 | Mork & Mindy/Laverne & Shirley/Fonz Hour | Laverne DeFazio | Voice, 8 episodes (Laverne & Shirley with the Fonz segment) |
| 1983 | Taxi | Herself | Episode: "Louie Moves Uptown" |
| 1984 | The New Show | Various Characters | Episode |
| Love Thy Neighbor | Linda Wilson | Television film |
| 1985 | Challenge of a Lifetime | Nora Schoonover | Television film |
| 1990 | The Simpsons | Ms. Botz | Voice, Episode: "Some Enchanted Evening" |
| 1993 | The Odd Couple Together Again | Myrna | Television film |
| 1996 | Saturday Night Live | Various Characters | Episode: "Rosie O'Donnell/Whitney Houston" |
| 1998 | Tracey Takes On... | Herself | Episode: "Hollywood" |
| Nash Bridges | Iris Heller | Episode: "Skin Deep" |
| 1999 | Jackie's Back! | Herself | Cameo |
| 2004 | Frasier | Celeste | Voice, Episode: "Frasier-Lite" |
| 2006 | Campus Ladies | | Episode: "Webcam" |
| Bones | Herself | Episode: "The Woman at the Airport" |
| 2008 | The Game | Doris Fox | Episode: "A Delectable Basket of Treats" |
| 2012 | The Life & Times of Tim | PR Executive | Voice, Episode: "The Smug Chiropractor/Corporate Disaster" |
| Portlandia | Barbara | Episode: "Feminist Book Store 10th Anniversary" |
| 2013 | Sam & Cat | Sylvia Burke | Episode: "#SalmonCat" |
| 2014 | Mulaney | Tutti | Episode: "Sweet Jane" |
