| Year | Title | Role | Notes |
| 1973 | Go Ask Alice | Doris | Television film |
| 1974 | Movin' On | Chessie | Episode: "Roadblock" |
| 1975 | Miles to Go Before I Sleep | Robin Williams | Television film |
| Baretta | Mindy | Episode: "On the Road" |
| The Mary Tyler Moore Show | Francie | Episode: "Mary's Delinquent" |
| 1975–1983 | One Day at a Time | Julie Mora Cooper Horvath | 123 episodes Main cast (Seasons 1–5) Recurring role (Seasons 7–9) |
| 1976 | The Jacksons | Herself / Multiple Roles | Season 1, Episode 2 (Variety Series) |
| Eleanor and Franklin | Eleanor Roosevelt, age 14 | Television film |
| 1976–1979 | Child World | Herself | TV commercials |
| 1978 | The Love Boat | Allison Scott | Episode: "The Big Deal" |
| 1979 | Fast Friends | Susan | Television film |
| The Incredible Hulk | Lisa Swan | Episode: "Metamorphosis" |
| 1980 | The Silent Lovers | Lillian Gish | Television film |
| 1982 | The Love Boat | Rachel Johnson | Episode: "Gopher's Roommate" |
| 1985 | Murder, She Wrote | Carol Needom | Episode: "Murder in the Afternoon" |
| 1986 | Kate's Secret | Deyna | Television film |
| 1994 | Beverly Hills, 90210 | Counselor Ellen Marks | Episode: "Intervention" |
| 1995 | Melrose Place | Maureen Dodd | Episode: "Melrose Impossible" & "A Hose by Any Other Name" |
| 1996 | Guiding Light | Rachel Sullivan | 4 episodes |
| NYPD Blue | Mary Donaldson | Episode: "Sorry, Wong Suspect" |
| 1997 | Caroline in the City | Donna Spadaro | Episode: "Caroline and the Singer" |
| Walker, Texas Ranger | Ellen Simms | Episodes: "Lucas" (Parts 1 & 2) |
| 1998 | Chicago Hope | Valerie Boyd | Episode: "Risky Business" |
| Viper | Heidi Rosen | Episode: "The Full Frankie" |
| 1999–2001 | So Weird | Molly Phillips | 63 episodes Main cast (Seasons 1–3) |
| 2000 | The Outer Limits | Boo Weston | Episode: "Down to Earth" |
| 2001 | Kate Brasher | Tracy Del Rey | Episode: "Tracy" |
| Crossing Jordan | Elaine Stahler | Episode "The Dawn of a New Day" |
| The Weakest Link | Herself | Classic TV Stars Edition |
| 2002 | Double Teamed | Mary Burge | Television film |
| ER | Leslie Miller | Episode "Damage Is Done" |
| 2003 | The Division | Carol Johnson | Episode: "Thus with a Kiss I Die" |
| 2004 | Without a Trace | Theresa Caldwell | Episode: "Lost and Found" |
| NYPD Blue | Lorraine Stuval | Episode: "Fish Out of Water" |
| 7th Heaven | Allison Davies | Episode: "Why Not Me?" |
| 2005 | One Day at a Time Reunion | Herself / Julie Mora Cooper Horvath | Television special |
| 2007 | Cold Case | Sheila Swett | Episode: "That Woman" |
| 2009 | Radio Needles | Tonya Taylor | Television film |
| 2012 | Interns: The Web Series | CEO | Episode: "Accepted" |
| Criminal Minds | Ellen Russell | Episode: "The Pact" |
| She Made Them Do It | Jamie Long | Television film |
| 2014 | Phineas and Ferb | Female Judge / Jump Instructor (voice) | Episode: "Act Your Age" |
| The Daily Helpline | Herself Co-Hostes | Episode: "Mackenzie Phillips" |
| 2015 | Hot in Cleveland | Kaylin | Episode: "About a Joy" |
| 2016–2018 | Milo Murphy's Law | Principal Elizabeth Milder (voice) | 7 episodes Recurring role (Seasons 1–2) |
| 2017 | Battle of the Network Stars | Herself | Episode: "TV Moms & Dads vs. TV Kids" |
| 2017–2020 | One Day at a Time | Pam Valentine | 9 episodes Recurring role (Seasons 1–4) |
| 2018 | Orange Is the New Black | Barbara "Barb" Denning | 6 episodes Recurring role (Season 6) |