| Year | Title | Role | Notes |
| 1996 | Swift Justice | Laurie Tuco | Episode: "Stones" |
| 1999–2006 | The Sopranos | Adriana La Cerva | Recurring cast (season 1 & 6), main cast (season 2–5) |
| 2002 | VH1 Big in 2002 Awards | Herself/Host | Main host |
| 2004–06 | Joey | Gina Tribbiani | Main cast |
| 2005 | HBO First Look | Herself | Episode: "Assault on Precinct 13: Caught in the Crosshairs" |
| 2007 | Aperture | Herself | Episode: "Drea de Matteo/Laurie Simmons" |
| 2008–14 | Sons of Anarchy | Wendy Case | Recurring cast (season 1 & 5-6), guest (season 4), main cast (season 7) |
| 2009–10 | Desperate Housewives | Angie Bolen | Main cast (season 6) |
| 2010 | Running Wilde | Didi | Episode: "One Step Forward" |
| Fakers | Tanner's Mother | TV movie |
| 2011 | Law & Order: Special Victims Unit | Sandra Roberts | Episode: "Pop" |
| CSI: Miami | Evelyn | Episode: "Sinner Takes All" |
| 2012 | Californication | Holly | Episode: "Here I Go Again" |
| 2013 | Stalkers | Diane Harkin | TV movie |
| The Mindy Project | Kelsey | Episode: "Mindy's Minute" |
| 2015 | Agents of S.H.I.E.L.D. | Karla Faye Gideon | Episode: "One of Us" |
| 2016–18 | Shades of Blue | Det. Tess Nazario | Main cast |
| 2017 | Bizarre Transmissions from the Bermuda Triangle | Herself | Episode: "Space Cake: Part 2" |
| 2019 | A Million Little Things | Barbara Morgan | Recurring cast (season 1-2) |
| 2021 | Paradise City | Maya | Main cast |
| 2021–24 | Match Game | Herself/Celebrity Panelist | 2 episodes |
| 2023 | Mayans M.C. | Wendy Case | Episode: "I Must Go in Now for the Fog Is Rising" |
| 2024 | Power Book II: Ghost | Melissa | Episode: "Higher Calling" |
