| Year | Title | Role | Notes |
| 2001 | Smack the Pony | Various characters | Series 3; Episodes 4–6 |
| 2004 | William and Mary | Penelope | Series 2; Episode 4 |
| Absolutely Fabulous | Yoko | Series 5; Episode 9: "White Box" (Christmas Special) |
| 2005 | The Vicar of Dibley | Suzie | Episode: "Happy New Year" (New Year Special) |
| Man Stroke Woman | Customer | Series 1; Episode 5 |
| Nighty Night | Beth | Series 2; 4 episodes |
| My Family and Other Animals | Jonquil | Television film |
| 2005–2006 | Comedy Lab | Various characters | Series 7; Episode 2: "Speeding" and Series 8; Episode 8: "Slap" |
| 2006 | Lead Balloon | Maureen | Series 1; Episode 1: "Rubbish" |
| Stupid! | Various characters | Series 2; Episodes 1–10 |
| 2006–2007 | Hyperdrive | Teal | Series 1 & 2; 12 episodes |
| 2006–2009 | Not Going Out | Acupuncturist / Barbara | Series 1–3; 16 episodes |
| 2007 | Rush Hour | Lollipop Lady | Series 1 |
| Roman's Empire | Casting Director | Mini-series; Episode 5 |
| Angelo's | Shelley | Episodes 1–6 |
| The Everglades | (unnamed role) | Television short film |
| 2008 | Hotel Trubble | Mrs. Lily Lemon | Series 1; Episode 1: "Tall Tales" |
| 2009 | French and Saunders' Mamma Mia! | Phyllida Lloyd | Sketch for Red Nose Day 2009 |
| Monday Monday | Tall Karen | Episodes 1–7 |
| The Story of Slapstick | Herself - Narrator | Television film |
| 2009–2013 | Would I Lie to You? | Herself - Panellist | Series 3–7; 5 episodes |
| 2009–2015 | Miranda | Miranda Preston | Series 1–3, and 4 Specials; 22 episodes (also writer) |
| 2010 | The One Ronnie | Cake Shop Owner / Church Committee Member | Christmas Television Special |
| 2012–2015 | Call the Midwife | Chummy Browne (later Noakes) | Series 1-4 (including Specials); 22 episodes |
| 2013 | Comic Relief: Red Nose Day 2013 | Herself / Chummy Noakes | Television Special for Comic Relief |
| Gangsta Granny | Linda | Television film |
| 2017 | Miranda: Morecambe & Wise and Me | Herself - Host | Television film |
| Comic Relief: Red Nose Day 2017 | Herself - Co-presenter | Television Special for Comic Relief |
| All Gardens Great & Small | Herself - Narrator | Episodes 1–3 |
| 2019 | Mamma Mia! Here We Go Yet Again | Ol Parker | Sketch for Red Nose Day 2019 |
| Hypocrite | Bar patron | Television short film |
| 2020 | Miranda’s Games with Showbiz Names | Herself - Host | Celebrity Christmas show |
