| Year | Title | Role | Notes |
| 1998 | The New Adventures of Robin Hood | Queen Stephanie | Episode: "Orphans" |
| 1999 | Renford Rejects | Sue White | Main role (series 2) |
| Days Like These | Helen Foreman | 3 episodes |
| Let Them Eat Cake | Eveline | 4 episodes |
| 1999–2001 | Big Bad World | Melissa | 4 episodes |
| 2000 | Cinderella | Regan | Television film |
| The 10th Kingdom | Sally Peep | 3 episodes |
| 2001 | People Like Us | Kate | Episode: "The Actor" |
| Midsomer Murders | Melissa Townsend | Episode: "Tainted Fruit" |
| Goodbye, Mr Steadman | Linda Mortimer | Television film |
| 2002 | Come Together | Amy | Television film |
| I Saw You | Esther | Episode: "Episode 1.1" |
| 2003 | Second Nature | Car Rental Girl | Television film |
| Dinotopia | Shayna | Episode: "Night of the Wartosa" |
| 2004 | My Family | Sarah | Episode: "Luck Be a Lady Tonight" |
| Doc Martin | Elaine Denham | Main role (series 1) |
| 2005 | Survivors | Juliet Savage | Episode: "In Deep Water" |
| 2006 | Agatha Christie's Poirot | Susannah Henderson | Episode: "After the Funeral" |
| 2007 | The Class | Holly Ellenbogen | Main role |
| Comedy Showcase: Ladies and Gentlemen | Alice | Pilot |
| The Sarah Silverman Program | Sally | Episode: "Ah, Men" |
| The Omid Djalili Show | Miss Fanny Dashett | Episode 1.2 |
| Two Families | Irene | Television film |
| 2008 | Fairy Tales | Fenola Gay | Episode: "Cinderella" |
| Wainy Days | Angel | Episode: "Angel" |
| 1% | Candace | Television film |
| 2010 | Vexed | DI Kate Bishop | 3 episodes |
| 2012–2013 | Ben and Kate | Beatrice Joan "BJ" Harrison | Main role |
| 2013 | Hello Ladies | Mother | Episode: "The Wedding" |
| 2014 | Kroll Show | Violet | Episode: "Cake Train" |
| Robot Chicken | Daenerys Targaryen/Arya Stark/Janice Rand (voice) | Episode: "Rebel Appliance" |
| 2016 | New Girl | Genevieve | 2 episodes |
| 2016–2022 | Motherland | Amanda | Main role |
| 2018–2019 | A Series of Unfortunate Events | Esmé Squalor | Main role |
| 2019 | The Conners | Kyle's mom | Episode: "Preemies, Weed and Infidelity" |
| 2020 | What We Do in the Shadows | Lilith | Episode: "Witches" |
| 2021 | The Prince | Kate Middleton (voice) | Main role |
| Gossip Girl | Saskia Bates | Episode: "Once Upon a Time in the Upper West" |
| 2021–2022 | Bloods | Jo | Main role |
| 2022 | Avenue 5 | Dawn Djopi | 2 Episodes |
| 2024 | No Good Deed | Trish | 1 episode "Letters of Intent" |
| 2025 | Animal Control | Fiona Holcomb | 4 Episodes |
| Amandaland | Amanda | 6 episodes |
| Shark! Celebrity Infested Waters | Herself | 5 episodes |
