| Year | Title | Role | Notes |
| 1969–1971 | Room 222 | Rhoda Zagor / Rita Zagor | 3 episodes |
| 1970 | My World and Welcome to It | Lydia No. 2 | Episode: "Child's Play" |
| Barefoot in the Park | Agnes | Episode: "The Marriage Proposal" |
| 1971 | Nanny and the Professor | 2nd Coed | Episode: "The Art of Relationships" |
| The Funny Side | Teenage Wife | 6 episodes |
| Getting Together | Cathy | Episode: "Cathy's Clown" |
| 1973 | Love, American Style | Karen Brown / Naomi Brubaker | 2 episodes |
| 1974 | Hawaii Five-O | Sue Reynolds | Episode: "Secret Witness" |
| The Migrants | Betty | Television film |
| Cannon | June Bowers | Episode: "The Stalker" |
| 1975 | Insight | Flora | Episode: "Somewhere Before" |
| Police Story | Joanna | Episode: "Test of Brotherhood" |
| 1975–1979 | Happy Days | Shirley Feeney | 5 episodes |
| 1976 | Petrocelli | Carol Janssen | Episode: "Survival" |
| 1976–1982 | Laverne & Shirley | Shirley Feeney | 159 episodesNominated—Golden Globe Award for Best Actress – Television Series Musical or Comedy (1978) |
| 1977 | Saturday Night Live | Velocity / Self | Episode: "Live from Mardi Gras" |
| 1978 | Suddenly, Love | Regina Malloy | Television film |
| 1979–1980 | CHiPs | Cindy Williams | 2 episodes |
| 1981–1982 | Laverne & Shirley in the Army | Shirley Feeney (voice) | 13 episodes |
| 1982 | Mork & Mindy/Laverne & Shirley/Fonz Hour | Shirley Feeney (voice) | Episode: "The Speed Demon Get-Away Caper" |
| 1985 | When Dreams Come True | Susan Matthews | Television film |
| Joanna | Joanna Weston |
| 1986 | Help Wanted: Kids | Lisa Burke |
| 1986 | The Leftovers | Heather Drew |
| 1988 | Save the Dog! | Becky |
| 1988 | Tricks of the Trade | Catherine |
| 1990 | Perry Mason: The Case of the Poisoned Pen | Rita Sue Bliss |
| Normal Life | Anne Harlow | 13 episodes |
| Steel Magnolias | M'Lynn Eatenton | Television film |
| Menu for Murder | Connie Mann |
| 1991 | Earth Angel | Judith |
| 1993–1994 | Getting By | Cathy Hale | 31 episodes |
| 1994 | Lois & Clark: The New Adventures of Superman | Wandamae | Episode: "A Bolt from the Blue" |
| 1995 | Escape from Terror: The Teresa Stamper Story | Wanda Walden | Television film |
| The Laverne & Shirley Reunion | Herself | Television special |
| The Magic School Bus | Gerri Poveri (voice) | Episode: "Ups and Downs" |
| 1996 | Touched by an Angel | Claire | Episode: "Jacob's Ladder" |
| The Stepford Husbands | Caroline Knox | Television film |
| Hope & Gloria | Connie Carlucci | Episode: "Come Back Lil' Tina" |
| 1999 | The Patty Duke Show: Still Rockin' in Brooklyn Heights | Sue Ellen Caldwell | Television film |
| 2000–2001 | Strip Mall | Herself | 6 episodes |
| 2000–2002 | For Your Love | Ronnie | 3 episodes |
| 2001 | Son of the Beach | Bobbi | Episode: "Grand Prix" |
| The Brothers García | Mrs. Barbacoa | Episode: "The Student Buddy" |
| The Weakest Link | Herself | Classic TV Stars Edition No. 2 |
| 2002 | Laverne & Shirley: Together Again | Herself / Shirley Feeney | Television special |
| 7th Heaven | Vice Principal Val | Episode: "The Enemy Within" |
| Less than Perfect | Joan Casey | Episode: "Meet the Folks" |
| 2003 | 8 Simple Rules | Mary Ellen Doyle | 2 episodes |