| Year | Title | Role | Notes |
| 1996 | Nash Bridges | Reporter | Episode: "High Impact" |
| 1996 | Grand Avenue | Girl | Television film |
| 1999 | The Pretender | Angela Somerset | Episode: "PTB" |
| 2001 | Curb Your Enthusiasm | Shaq's Girlfriend | Episode: "Shaq" |
| 2001 | The Weakest Link | Herself | Episode: "Comedians Special" |
| 2001 | Talk Soup | Herself (host) | 19 episodes |
| 2001 | Off Limits | Cast | |
| 2001-02 | The 5th Wheel | Herself (host) | 5 episodes |
| 2002 | The Sausage Factory | Jamie | Episode: "Purity" |
| 2003 | Friends | Dr. Charlie Wheeler | 9 episodesNominated – Teen Choice Award for Choice TV Breakout Star, Female |
| 2003 | CSI: Miami | Janet Medrano | Episode: "Body Count" |
| 2004 | My Life, Inc. | Melanie Haywood | Television film |
| 2004 | MadTV | Bride of Frankenstein | Episode: "9.14" |
| 2004 | Nip/Tuck | Manya Mabika | Episode: "Manya Mabika" |
| 2004-05 | CSI: Crime Scene Investigation | Mia Dickerson | 13 episodes |
| 2005 | 24 | Marianne Taylor | 7 episodesNominated – NAACP Image Award for Outstanding Supporting Actress in a Drama Series (2006) |
| 2005-06 | Ghost Whisperer | Andrea Marino | 23 episodes |
| 2006 | For One Night | Desiree Howard | Television filmNominated – NAACP Image Award for Outstanding Actress in a Television Movie, Miniseries or Dramatic Special |
| 2007 | Boston Legal | Taryn Campbell | Episode: "Trial of the Century" |
| 2007 | The Boondocks | Luna (voice) | Episode: "Attack of the Killer Kung-Fu Wolf Bitch" |
| 2008 | Million Dollar Password | Herself | Contestant |
| 2008 | Reno 911! | Befany Dangle | Episode: "Befany's Secret Family" |
| 2009 | Aisha Tyler Is Lit: Live at the Fillmore | Herself | Stand-up special |
| 2009-23 | Archer | Lana Kane (voice) | 101 episodesNominated – Behind the Voice Actors Awards for Outstanding Vocal Ensemble in a Television Series, Comedy/Musical (2013, 2014)Nominated – NAACP Image Award for Outstanding Actress in a Comedy Series (2014)Nominated – NAACP Image Award for Outstanding Character Voice-Over Performance (Television or Theatrical) (2016)Nominated – Online Film & Television Association Award for Best Voice-Over Performance in an Animated Program (2017) |
| 2010 | Chelsea Lately | Herself | 1 episode |
| 2010 | The Forgotten | Lydia Townsend | Episode: "Designer Jane" |
| 2011-12 | XIII: The Series | Major Jones | 15 episodes |
| 2011 | RuPaul's Drag Race | Herself | Season 3, Episode 6: "The Snatch Game" |
| 2011-17 | The Talk | Herself (co-host) | Won – Daytime Emmy Award for Outstanding Entertainment Talk Show Host (2017) Nominated – Daytime Emmy Award for Outstanding Talk Show Host (2014)Nominated – Daytime Emmy Award for Outstanding Entertainment Talk Show Host (2015, 2016, 2018) |
| 2011-17 | Talking Dead | Herself | 4 episodes |
| 2012 | Glee | Jake Puckerman's Mother | Episode: "Glee, Actually" |
| 2013-24 | Whose Line Is It Anyway? | Herself (host) | Season 9–present |
| 2013 | Hawaii Five-0 | Savannah Walker | Episode: "Imi Loko Ka 'Uhane" |
| 2013 | The Getaway | Herself | Episode: "Aisha Tyler in Paris" |
| 2014 | Modern Family | Wendy | Episode: "Spring-a-Ding-Fling" |
| 2014 | The Mind of a Chef | Herself | |
| 2014 | Two and a Half Men | Allison | Episode: "The Ol' Mexican Spinach" |
| 2014 | Hell's Kitchen | Herself | Episode: "Winner Chosen" |
| 2014-15 | BoJack Horseman | Sextina Aquafina (voice) | 2 episodes |
| 2015-20, 2022-present | Criminal Minds | Dr. Tara Lewis | 92 episodesRecurring role (season 11)Main cast (season 12–present) |
| 2016 | Lip Sync Battle | Herself | Episode: "Shaquille O'Neal vs. Aisha Tyler" |
| 2016 | Supergirl | Episode: "Falling" |
| 2016-17 | @midnight | 2 episodes |
| 2018 | Unapologetic with Aisha Tyler | Herself (host) | 9 episodes |
| 2020 | Diary of a Future President | Alicia | Episode: "Hello World" |
| 2021-present | Monsters at Work | Millie Tuskmon (voice) | recurring role |
| 2021 | RuPaul's Drag Race All Stars | Herself (guest judge) | Season 6, Episode 5: "Pink Table Talk" |
| 2021 | Robot Chicken | Angela Abar, Carole Baskin (voice) | Episode: "May Cause Random Wolf Attacks" |
| 2021 | Fear the Walking Dead | Mickey | Episode: "Till Death"Nominated – Saturn Award for Best Guest-Starring Performance in a Network or Cable Television Series (2022) |
