| Year | Title | Role | Notes |
| 1983–88 | Sesame Street | Herself | Recurring Guest |
| 1984–92 | The Cosby Show | Rudy Huxtable | Main Cast |
| 1987–88 | A Different World | Rudy Huxtable | Recurring Cast: Season 1 |
| 1990 | Reading Rainbow | Herself (voice) | Episode: "The Magic School Bus Inside the Earth" |
| 1993 | It's Showtime at the Apollo | Herself/Guest Host | Episode: "Episode " |
| 1997 | Cosby | Guitarist | Episode: "The Return of Charlites" |
| 2001 | The Weakest Link | Herself | Episode: "TV Child Stars Edition" |
| 2002 | Fear Factor | Episode: "Celebrity Fear Factor 3" |
| 2004 | The Mole | Herself/Contestant | Contestant: Season 4 |
| 2005 | The Greatest | Herself | Episode: "100 Greatest Kid Stars" |
| 2007–09 | Whatever Happened To? | Episode: "Little Sisters" & "Middle Sibbles" |
| 2007–12, 2020–present | Tyler Perry's House of Payne | Miranda Lucas Payne | Main Cast |
| 2009 | Played by Fame | Herself | Episode: "Eco Friend Date" |
| 2010 | Psych | Stranjay | Episode: "The Polarizing Express" |
| 2011 | Celebrity Ghost Stories | Herself | Episode: "Keshia Knight Pulliam, Ming-Na, Chi McBride, Mia Tyler" |
| Hollywood Icons and Innovators | Episode: "Episode " |
| 2012 | The Real Housewives of Atlanta | Episode: "All Pomp But No Circumstance" |
| Mr. Box Office | Vanessa Owens | Episode: "Pilot" |
| 2013 | Splash | Herself/Contestant | Main Cast |
| Guys with Kids | Bridget | Episode: "Divorce Party" |
| 2015 | The Apprentice | Herself/Contestant | Contestant: Season 14 |
| 2018 | Celebrity Big Brother | Herself/Contestant | Contestant: Season 1 |
| 2019 | BET Her Presents: The Waiting Room | Dr. Bennett | Episode: "The Waiting Room" |
| 2021 | Down to Business | Herself | Episode: "Various Artists" |
| 2022 | Uncensored | Episode: "Keshia Knight Pulliam" |
| Married at First Sight | Herself/Host | Main Host: Season 15 |
