| Year | Title | Role | Notes |
| 2004–2011 | One Life to Live | Adriana Cramer | 208 episodes |
| 2005 | All My Children | Adriana Cramer | 2 episodes |
| 2009 | Important Things with Demetri Martin | April | Episode: "Coolness" |
| 2010 | Gossip Girl | Zoe | 5 episodes |
| The Mentalist | Carmen Reyes | Episode: "Red Letter" |
| 2011 | Royal Pains | Brooke | Episode: "Pit Stop" |
| 2012 | CSI: NY | Michelle Rhodes | Episode: "The Real McCoy" |
| 2013 | Men at Work | April | Episode: "The New Boss" |
| 2013–2021 | Brooklyn Nine-Nine | Amy Santiago | Main role; 151 episodesDirected episode: "Return of the King" |
| 2014 | Top Chef Duels | Herself | Episode: "Jen Carroll vs. Nyesha Arrington" |
| 2015, 2019 | Hollywood Game Night | Herself | 2 episodes |
| 2016 | Mack & Moxy | The Admirable | Episode: "A Bop-Topus' Garden" |
| 2017 | Hell's Kitchen | Herself | Episode: "A Little Slice of Hell" |
| 2018 | The $100,000 Pyramid | Herself | Episode: "Bobby Moynihan vs. Melissa Fumero" |
| 2019 | America's Got Talent: The Champions | Herself | Episode: "The Champions Results Finale" |
| 2019–2020 | One Day at a Time | Estrellita | 2 episodes |
| Elena of Avalor | Antonia (voice) | 3 episodes |
| 2020 | She-Ra and the Princesses of Power | Starla (voice) | Episode: "Stranded" |
| Match Game | Herself | Episode: "Shooting Blanks" |
| Big City Greens | Cantaloupe Sinclair (voice) | Episode: "Dolled Up" |
| Room 104 | Eva | Episode: "Bangs" |
| 2021 | M.O.D.O.K. | Melissa Tarleton (voice) | Main role; 8 episodes |
| Diary of a Future President | Ms. Ortega | 2 episodes |
| 2022 | Grand Crew | — | Directed episode: "Wine & Hip Hop" |
| Gordita Chronicles | — | Directed episode: "In America You Get What You Pay For" |
| Blockbuster | Eliza Walker | Main role; 10 episodes |
| 2023 | Animaniacs | Luisa / Maria (voice) | Episode: "WARnerGAMES/Starbox & Cindy: Bedtime/WARnerGAMES 2/Crumbly's Moment" |
| Lopez vs Lopez | Natalia | Episode: "Lopez vs. Bucket Crabs" |
| Primo | — | Directed 2 episodes: "The Game Champ" and "The Candy Bar" |
| Celebrity Jeopardy! | Herself | Contestant |
| 2023–2024 | Velma | Sophie (voice) | 18 episodes |
| 2023–present | Digman! | Bella Torres (voice) | Main role |
| 2024 | Night Court | Jasmine Jennings | Episode: "Chips Ahoy" |
| Based on a True Story | Drew Stephens/Olivia Carter | 6 episodes |
| 2025 | Grosse Pointe Garden Society | Birdie | Lead role |
| Haunted Hotel | Additional voice | Episode: "Ghost Hunters!" |
