| Year | Title | Role | Notes |
| 1961 | Naked City | Rosa Alloro | Episode: "The Corpse Ran Down Mulberry Street" |
| 1963 | The Fugitive | Joanne Spencer | Episode: "See Hollywood and Die" |
| 1966 | Vacation Playhouse | Jenny Penny | Episode: "My Lucky Penny" |
| 1969 | The F.B.I. | Gerri Coates, the waitress | Episode: "Scapegoat" |
| 1971 | What's a Nice Girl like You...? | Shirley | Television movie |
| 1972 | Marcus Welby, M.D. | Marilyn Hoffman | Episode: "House of Mirrors" |
| 1972 | The Streets of San Francisco | Police Officer Sherry Reese | Episode: "Act of Duty" |
| 1972 | McCloud | Police Officer Margaret Sereno | Episode: "The Park Avenue Rustlers" |
| 1972 | Banacek | Sharon Clark | Episode: "To Steal a King" |
| 1973 | Honor Thy Father | Rosalie Bonnano | Television movie |
| 1973 | The Shape of Things | Herself | Television specialPrimetime Emmy Award for Individual Performance in a Variety or Music Program |
| 1974 | The Streets of San Francisco | Hit Woman Sidney (AKA Sally Banning) | Episode: "The Most Deadly Species" |
| 1976 | Sara | Sara Yarnell | 12 episodesNominated—Primetime Emmy Award for Outstanding Lead Actress in a Drama Series |
| 1976 | Territorial Men | Sara Yarnell | Television movie – compiled from footage shot for the television series Sara |
| 1977 | Nestor, the Long-Eared Christmas Donkey | Tilly (voice) | Television special |
| 1979 | Dear Detective | Det. Sgt. Kate Hudson | 4 episodes |
| 1980 | Guyana Tragedy: The Story of Jim Jones | Jane Briggs | Television movie |
| 1981 | A Long Way Home | Lillian Jacobs | Television movie |
| 1981 | The Star Maker | Dolores Baker | Television movie |
| 1981 | The Pride of Jesse Hallam | Marion Galucci | Television movie |
| 1983 | Fame | Herself | Episode: "Blood Sweat & Circuits" |
| 1984 | Paper Dolls | Julia Blake | 13 episodes |
| 1984 | St. Elsewhere | Rose Orso | Episode: "The Women" |
| 1984 | The Love Boat | Eleanor Savage | 2 episodes |
| 1984–1989 | The Smurfs | Scruple / various (voice) | 53 episodes |
| 1985 | Deceptions | Helen Adams | Television movie |
| 1985 | Care Bears | Auntie Freeze (voice) | 2 episodes; uncredited |
| 1986–1987 | Hollywood Squares | Herself | Episodes airing December 22-26, 1986 & March 9-13, 1987 |
| 1987 | The Jetsons Meet the Flintstones | Didi (voice) | Television movie |
| 1988 | Murder, She Wrote | Mimi Harcourt | Episode: "Just Another Fish Story" |
| 1990 | Murder, She Wrote | Didi Blair | Episode: "The Fixer-Upper" |
| 1990 | Murder, She Wrote | Sheila Kowalski Finley | Episode: "The Family Jewels" |
| 1990 | The Golden Girls | Angela Petrillo | Episode: "Ebbtide's Revenge"Nominated—Primetime Emmy Award for Outstanding Guest Actress in a Comedy Series |
| 1990 | Columbo | Jess McCurdy | Episode: "Murder in Malibu" |
| 1990 | Stolen: One Husband | Lisa Jarrett | Television movie |
| 1991 | Darkwing Duck | Slim (voice) | Episode: "You Sweat Your Life" |
| 1992 | Civil Wars | Actress | Episode: "Oceans White the Phone" |
| 1992 | Red Shoe Diaries | Martha | Television movie |
| 1992 | Goof Troop | Gilda (voice) | Episode: "Date with Destiny" |
| 1994 | Following Her Heart | Cecile | Television movie |
| 1994 | The Critic | Ardeth (voice) | 5 episodes |
| 1994–1995 | Captain Planet and the Planeteers | Chi / Marge (voice) | 2 episodes |
| 1995 | Friends | Gloria Tribbiani | Episode: "The One with the Boobies" |
| 1996 | Touched by an Angel | Al | Episode: "Out of the Darkness" |
| 1996 | Siegfried & Roy: Masters of the Impossible | (voice) | Unknown episodes |
| 1997 | What a Cartoon! | Melissa (voice) | Episode: "Johnny Bravo and the Amazon Women" |
| 1997 | Ally McBeal | Karen Horowitz | Episode: "The Attitude" |
| 1997–1999 | Spawn | Additional voices | 5 episodes |
| 1997–2004 | Johnny Bravo | Bunny Bravo / various (voice) | 55 episodes |