| Year | Title | Role | Notes |
| 1993 | ABC Afterschool Special | | Episode: "Love Hurts" |
| Missing Persons | Juanita Gonzales | Episode: "That's My Sister, Pal" |
| 1996 | NYPD Blue | Donna Mendoza | Episode: "Burnin' Love" |
| Second Noah | Roxanna | Episode: "Second Noah" |
| No One Would Tell | Val Cho | Television film |
| 1997 | ER | Ms. Cruz | Episode: "Ambush" |
| Moloney | | Episode: "I'm Ambivalent About L.A." |
| Crisis Center | Raquel | Episode: "He Said, She Said" |
| Arsenio | Anna Montez | Episode: "We Can Still Be Friends" |
| Goode Behavior | Raquel DeLarosa | Recurring role (5 episodes) |
| 1998 | The Gregory Hines Show | Maria | Episode: "James Stevenson Stands Alone" |
| Any Day Now | Olivia | Episode: "It's Who You Sleep With" |
| Touched by an Angel | Marisol | Episode: "An Angel on the Roof" |
| Malcolm & Eddie | Laura Morales | Episodes: "Love Thy Neighbor", "The Fool Monty" |
| 1999 | Promised Land | Roxie Kahle | Episode: "Darkness Visible" |
| Early Edition | Laura | Episode: "Camera Shy" |
| 1999–2000 | Oh Baby | Mona | Episodes: "Guilt", "Friendship", "Cinderella" |
| 2000 | Angel | Jo | Episode: "Judgment" |
| 2001–2005 | Six Feet Under | Vanessa Diaz | Regular role (42 episodes)Screen Actors Guild Award for Outstanding Performance by an Ensemble in a Drama Series (2004)Nominated — Imagen Award for Best Supporting Actress - Television (2005-2006)Nominated — ALMA Award for Outstanding Supporting Actress in a Television Series (2006)Nominated — Screen Actors Guild Award for Outstanding Performance by an Ensemble in a Drama Series (2005-2006) |
| 2002 | The Johnny Chronicles | Marisol | TV pilot |
| Strong Medicine | | Episode: "Type & Cross" |
| 2003–2004 | Missing | Sunny Estrada | Main role (17 episodes) |
| 2006 | Ghost Whisperer | Suzanne | Episode: "Demon Child" |
| Fatal Contact: Bird Flu in America | Alma Ansen | Television film |
| Grey's Anatomy | Anna Nyles | Episode: "Oh, the Guilt" |
| 2007 | Cold Case | Amelia Lopez | Episode: "The Good Death" |
| Ugly Betty | Cousin Clara | Episodes: "A Tree Grows in Guadalajara", "Family/Affair" |
| 2008 | Man of Your Dreams | Sheryl | TV pilot |
| Kath & Kim | Angel | Episodes: "Old", "Money" |
| 2009 | ER | Claudia Diaz | Recurring role (8 episodes)Nominated — ALMA Award for Outstanding Actress in a Drama Series (2009) |
| 2009–2010 | Three Rivers | Pam Acosta | Main role (13 episodes) |
| 2010 | Burn Notice | Lauren | Episode: "Neighborhood Watch" |
| Bones | Lupe Rojas | Episode: "The Couple in the Cave" |
| 2011 | Off the Map | Teresa | Episode: "Hold on Tight" |
| The Protector | Marisol Casas | Episode: "Blood" |
| Body of Proof | Emily Burrows | Episode: "Lazarus Man" |
| Harry's Law | Counsel | Episode: "American Girl" |
| 2012 | Desperate Housewives | Claudia Sanchez | Episodes: "Who Can Say What's True?", "What's the Good of Being Good" |
| Switched at Birth | Nurse Britzia Munoz | Episodes: "Starry Night", "The Art of Painting" |
| 2012–2013 | Private Practice | Stephanie Kemp | Recurring role (6 episodes) |
| 2013 | The Fosters | Sonia Rivera | Episodes: "Saturday", "The Fallout", "I Do" |
| Welcome to the Family | Lisette Hernandez | Episodes: "1.1", "1.2" |
| Murder Police | Rosa Sanchez (voice) | 13 episodes |
| 2014 | Major Crimes | Ana Ruiz | Episode 13, Season 3: "Acting Out" |
| 2014 | Finders Keepers | Prof. Elena Carranza | Television film |
| 2015 | Devious Maids | Reina | Episodes: "She Done Him Wrong", "The Turning Point" |
| 2016 | Heartbeat | Beth / Emily | Episode: "Twins" |
| 2016–2019 | Jane the Virgin | Darci Factor | Recurring role, 19 episodes |
| 2016, 2019 | Queen of the South | Brenda | Main role (Season 1); 13 episodes Guest role (Season 4); 2 episodes |
