| Year | Title | Role | Notes |
| 1985 | Mister Rogers' Neighborhood | Royal Trumpeter | Episode: "1549 & 1550: Music" |
| 1987 | Another World | Abby | Episode: "Episode " |
| 1988–1991 | As the World Turns | Lien Hughes | Regular cast |
| 1994 | All-American Girl | Amy | Episode: "Redesigning Women" |
| 1995–1997 | The Single Guy | Trudy Sloan | Main cast |
| 1995–2004 | ER | Dr. Jing-Mei "Deb" Chen | Recurring cast (season 1); main cast (seasons 6–11) |
| 1997 | Happily Ever After: Fairy Tales for Every Child | Lani (voice) | Episode: "Puss in Boots" |
| 1998–1999 | Todd McFarlane's Spawn | Lisa Wu/Jade (voice) | Recurring cast |
| 1999 | Oh Yeah! Cartoons | Ming Lan (voice) | Episode: "ChalkZone: Chalk Rain" |
| 2002 | Hollywood Squares | Herself/Panelist | Episode: "April 29, 2002" |
| 2003 | The Bronx Bunny Show | Herself | Episode: "Episode " |
| House of Mouse | Mulan (voice) | Episode: "Salute to Sports" |
| 2004 | World Poker Tour | Herself | Episode: "Hollywood Home Game III" |
| The Adventures of Jimmy Neutron: Boy Genius | Peggy Tsu (voice) | Episode: "The Great Egg Heist" |
| Law & Order: Special Victims Unit | Li Mei | Episode: "Debt" |
| 2004–2005 | The Batman | Ellen Yin (voice) | Recurring cast (seasons 1–2) |
| 2005 | Inconceivable | Rachel Lu | Main cast |
| 2005, 2015 | Robot Chicken | Mary-Kate Olsen/Tina Nguyen/Ming-Ming Duckling (voice) | 2 episodes |
| 2006 | George Lopez | Professor Tracy Lim | Recurring cast (season 5) |
| Vanished | Agent Lin Mei | Main cast |
| 2007 | American Masters | Narrator (voice) | Episode: "Novel Reflections: The American Dream" |
| 2007–2010 | Two and a Half Men | Judge Linda Harris | Recurring cast (season 5); guest (season 7) |
| 2008 | Private Practice | Kara Wei | Episode: "Let It Go" |
| Boston Legal | Ming Wang Shu | Episode: "Roe" |
| 2008–2014; 2025–present | Phineas and Ferb | Dr. Hirano (voice) | Recurring cast (seasons 1 & 4); guest (season 2) |
| 2009 | Ni Hao, Kai-Lan | Gui Nai Nai (voice) | Episode: "Kai-Lan's Trip to China" |
| 2009–2011 | Stargate Universe | Camile Wray | Main cast |
| 2011–2012 | Eureka | Senator Michaela Wen | Recurring cast (seasons 4–5) |
| 2011 | Celebrity Ghost Stories | Herself | Episode: "Keshia Knight Pulliam, Ming-Na, Chi McBride, Mia Tyler" |
| 2012 | Adventure Time | Finn's Mom (voice) | Guest (season 4); recurring cast (season 5) |
| 2013 | Nashville | Calista Reeves | Episode: "You Win Again" |
| 2013–2020 | Agents of S.H.I.E.L.D. | Agent Melinda May | Main cast |
| 2014–2018 | Sofia the First | Mulan/Vega (voice) | Guest (season 2); recurring cast: (season 4) |
| 2015 | Hollywood Game Night | Herself/Celebrity Player | Episode: "Cedric Gives Niecy a Hand" |
| 2017 | We Bare Bears | Ranger Zhao (voice) | Episode: "Ranger Games" |
| 2017–2018 | Milo Murphy's Law | Savannah (voice) | Recurring cast (season 1); guest (season 2) |
| 2017–2019 | Fresh Off the Boat | Stephanie/Elaine | Guest (season 3); recurring cast (season 5) |
| 2018 | Iron Chef America | Herself/ICA Judge | Episode: "Guarnaschelli vs. Williams" |
| Celebrity Family Feud | Herself | Episode: "Jeff Dunham vs Ming-Na Wen and Taye Diggs vs Caroline Rhea" |
| Guardians of the Galaxy | Phyla-Vell (voice) | Recurring cast (season 3) |
| America 2.0 | Helen Chan | Recurring cast |
| 2018–2019 | Hot Streets | Soo Park (voice) | Recurring cast (seasons 1–2) |
| 2019 | Marvel Rising | Hala the Accuser (voice) | Episode: "Heart of Iron" |
| Mao Mao: Heroes of Pure Heart | Tanya Keys (voice) | Episode: "Meet Tanya Keys" |
| 2019–2020 | The Mandalorian | Fennec Shand | Guest (season 1); recurring cast (season 2) |
| 2020 | Awkwafina Is Nora from Queens | Aunt Sandra | Episode: "Vagarina" |
| 50 States of Fright | Susan | Episode: "America's Largest Ball of Twine (Kansas) – Part 1-3" |
| 2021 | Yasuke | Natsumaru (voice) | Main cast |
| Pretty Smart | Jayden's Mom | Episode: "OMG! Jayden's mom is back!" |
