| Year | Title | Role | Notes |
| 1994 | Siren Spirits | Joyoti | Episode: "Bideshi" |
| 1996 | The Thin Blue Line | Nazia Habib | Episode: "Alternative Culture" |
| 1997 | Dad | N/A | Episode: "Dadmestic" |
| 2000 | Harry Enfield's Brand Spanking New Show | Various | 12 episodes |
| 2001 | A Mind to Kill | Lamisa Khan | Episode: "Colour Blind" |
| 2001 | Murder in Mind | WPC Jill Evans | Episode: "Vigilante" |
| 2001 | The Bill | Shanaz Arad | 2 episodes |
| 2002 | Single Voices | N/A | Episode: "Little Englander" |
| 2002 | Holby City | Ali Safron | Episode: "From This Moment On" |
| 2002 | My Family | Dental Assistant | Episode: "Of Mice and Ben" |
| 2002 | White Teeth | Alsana | 4 episodes |
| 2003 | The Canterbury Tales | Clare | Episode: "The Man of Law's Tale" |
| 2003–2004 | Grease Monkeys | Rita Dhillon | 20 episodes |
| 2003–2006 | Postman Pat | Meera Bains, Katy Pottage and Nisha Bains | |
| 2004 | Sea of Souls | Megan Sharma | 6 episodes |
| 2006–2007 | Life on Mars | Maya Roy | 2 episodes |
| 2007 | Silent Witness | Amita Joshi | 2 episodes |
| 2008-2017 | Postman Pat: Special Delivery Service | Meera Bains and Nisha Bains | |
| 2009 | Personal Affairs | Jane Lesser | 5 episodes |
| 2009–2015 | The Good Wife | Kalinda Sharma | Main role (season 1–6) |
| 2013–2014 | The Fall | Professor Reed Smith | Main role |
| 2014 | The Widower | Simone Banerjee | Miniseries |
| 2015 | Brooklyn Nine-Nine | Lieutenant Singh | Episode: "The Funeral" |
| 2016 | Shetland | Detective Sergeant Asha Israni | Main role (series 3) |
| 2016 | The Jury | Kim Dempsey | Unsold TV pilot |
| 2016 | Power Monkeys | Preeya | Main role |
| 2016–2018, 2020 | Blindspot | Nas Kamal | Main role (season 2); guest role (seasons 3 & 5) |
| 2017 | Bull | Arti Cander | 1 episode: "The Devil, The Detail" |
| 2017 | BoJack Horseman | Tilda Madison | Voice role; episode: "Commence Fracking" |
| 2018 | Next of Kin | Mona Harcourt | 6 episodes, also executive producer |
| 2019–2023 | Departure | Kendra Malley | Main role, also executive producer |
| 2019 | Still Open All Hours | Jasmin | Recurring role (series 6), 4 episodes |
| 2020 | Run | Fiona | 3 episodes |
| 2020 | I Know This Much Is True | Dr Patel | Miniseries |
| 2021 | Star Wars: The Bad Batch | Depa Billaba | Voice; episode: "Aftermath" |
| 2022 | Snowpiercer | Asha | Main role (season 3) |
| 2023 | Hijack | Zahra Gahfoor | Miniseries |
| 2024 | Under the Bridge | Suman Virk | |
| 2025 | Doctor Who | The Rani | 3 episodes |
