| Year | Title | Role | Notes |
| 1976 | Good Times | Diana Buchanan | Episodes: "J.J.'s Fiancée: Part 1 " and "J.J.'s Fiancée: Part 2" |
| 1977 | 3 Girls 3 | Herself | 4 episodes |
| 1977 | The Greatest Thing That Almost Happened | Julie Sutton | Television film |
| 1979 | Roots: The Next Generations | Nan Branch Haley | Episode: "Part VI (1939–1950)" |
| 1979 | Ebony, Ivory & Jade | Claire 'Ebony' Bryant | Television film |
| 1982 | Alice at the Palace | Red Queen | Television film |
| 1979–1983 | The Love Boat | Selena Moore / Reesa Marlowe | 3 episodes (1979 (S02,E22); 1983 (S06,E18-E19) |
| 1983 | Women of San Quentin | Carol Freeman | Television film |
| 1983 | Live... And in Person | Herself | TV specialNominated—Primetime Emmy Award for Outstanding Individual Performance in a Variety or Music Program |
| 1984 | Celebrity | Regina Brown | Miniseries |
| 1985 | Motown Returns to the Apollo | Herself | TV specialNominated—Primetime Emmy Award for Outstanding Original Music and Lyrics |
| 1986 | An All-Star Celebration Honoring Martin Luther King Jr. | Herself | TV specialNominated—Primetime Emmy Award for Outstanding Individual Performance in a Variety or Music Program |
| 1987 | Square One Television | Herself | Season 1 Episode 10 |
| 1982–1987 | Fame | Lydia Grant | Series regular, 136 episodes, also producerGolden Globe Award for Best Actress – Television Series Musical or Comedy (1983)Primetime Emmy Award for Outstanding Choreography (1982–1983)Golden Apple Award for Female Discovery of the Year (1982)NAACP Image Award for Outstanding Actress in a Drama SeriesNominated—Golden Globe Award for Best Actress – Television Series Musical or Comedy (1984–1985)Nominated—Primetime Emmy Award for Outstanding Lead Actress in a Drama Series (1982–1985)Nominated—Primetime Emmy Award for Outstanding Choreography (1984–1985) |
| 1988 | The Cosby Show | Emma | Episode: "If the Dress Fits, Wear It" |
| 1991 | Quantum Leap | Joanna Chapman | Episode: "Private Dancer - October 6, 1979" |
| 1991 | Motown 30: What's Goin' On! | Herself | TV specialPrimetime Emmy Award for Outstanding Choreography |
| 1991 | Sunday in Paris | Sunday Chase | Unsold TV pilot, also executive producer |
| 1992 | 64th Academy Awards | Herself | TV specialNominated—Primetime Emmy Award for Outstanding Choreography |
| 1992 | Stompin' at the Savoy | Estelle | Television film, also director |
| 1988–1993 | A Different World | Dr. Langhorne/Herself | 122 episodes, showrunner and producer |
| 1993 | 65th Academy Awards | Herself | TV specialNominated—Primetime Emmy Award for Outstanding Choreography |
| 1995 | 67th Academy Awards | Herself | TV specialNAACP Image Award for Outstanding Choreography in Film or TelevisionNominated—Primetime Emmy Award for Outstanding Choreography |
| 1995–1996 | In the House | Jackie Warren | Series regular, 26 episodes |
| 1996 | Touched by an Angel | Valerie Hill | Episode: "Sins of the Father" |
| 1997 | Happily Ever After Fairy Tales for every child | Ladybug | | Debra | Episode: "Dating Games" |
| 1999 | 71st Academy Awards | Herself | TV specialNominated—Primetime Emmy Award for Outstanding Choreography |
| 1999 | Michael Jordan: An American Hero | Deloris Jordan | Television film |
| 2001 | The Old Settler | Quilly | Television film, also executive producer |
| 2003 | The Division | Wanda | Episode: "Bewitched, Bothered and Bewildered" |
| 2004 | All of Us | Kate | Episode: "Parents Just Don't Understand" |
| 2007–2014 | So You Think You Can Dance | Herself - Guest Judge | 21 episodes |
| 2011 | Grace | Helen Grace | Unsold TV pilot, also executive producer |
| 2011–present | Grey's Anatomy | Dr. Catherine Avery Fox | Recurring role, also executive producerNominated—NAACP Image Award for Outstanding Supporting Actress in a Drama Series (2014) |
| 2013 | Let's Stay Together | Cougar | Episode: "Kita's Got a Gun" |
| 2016 | Dance Moms | Herself | Episodes: "Abby's Replaceable" and "Debbie Allen to the Rescue" |
| 2016 | Jane the Virgin | Beverly Flores | Episode: "Chapter Forty-Three" |
| 2018 | Raven's Home | Aunt Maureen | Episode: "Switch or Treat" |
| 2018–2025 | S.W.A.T. | Charice Harrelson | Recurring role |
| 2020 | Grace and Frankie | Dorothy | Episode: "The Short Rib" |
| 2022–2023 | The Proud Family: Louder and Prouder | Myrtie (voice) | 2 episodes |