| Year | Title | Role | Notes |
| 2003–04 | E! True Hollywood Story | Herself | Guest Cast: Season 8-9 |
| 2003–05 | Punk'd | Herself | Guest Cast: Season 2 & 4 |
| 2003–07 | The Simple Life | Herself | Main Cast |
| 2004 | Eve | Karen | Episode: "Valentine's Day Reloaded" |
| Rock Me Baby | Amanda | Episode: "Kiss and Don't Tell" |
| Six Feet Under | Herself | Episode: "Untitled" |
| American Dreams | Brenda Reid | Episode: "Charade" |
| 2004–05 | Mad TV | Herself | Guest Cast: Season 9-10 |
| 2005 | Style Star | Herself | Episode: "Nicole Richie" |
| 8 Simple Rules | Ashley | Episode: "Ditch Day" |
| 2006 | The Hills | Herself | Episode: "New City, New Drama" |
| THS Investigates | Herself | Episode: "Starving for Perfection" |
| 2007 | Extreme Hollywood | Herself | Episode: "Star Treatment" |
| America's Next Top Model | Herself | Episode: "The Girl Who Gets Thrown in the Pool" |
| 2008–10 | Chuck | Heather Chandler | Guest Cast: Season 2 & 4 |
| 2009 | The Rachel Zoe Project | Herself | Episode: Pin Thin' and Pissed Off" |
| Styl'd | Herself | Episode: "Catwalks and Catfights" |
| 2010 | CrispyMedia | Herself | Episode: "Nicole Richie" |
| Project Runway | Herself/Guest Judge | Episodes: "Back to New York" & "Reunion Special" |
| 2012 | The New Normal | Herself | Episode: "Para-New Normal Activity" |
| 2012–13 | Fashion Star | Herself/Mentor | Main Mentor |
| 2014–15 | Candidly Nicole | Herself | Main Cast |
| 2015 | Barely Famous | Herself | Episode: "Barely Famous" |
| Empire | Herself | Episode: "Et Tu, Brute?" |
| 2016 | RuPaul's Drag Race | Herself/Guest Judge | Episode: "Keeping It 100!" |
| 2017 | Lip Sync Battle | Herself/Competitor | Episode: "Nicole Richie vs. John Michael Higgins" |
| Drop the Mic | Herself | Episode: "Episode " |
| 2017–18 | Great News | Portia Scott-Griffith | Main Cast |
| 2018 | Food Exposed with Nelufar Hedayat | Herself | Episode: "Waste" |
| Camping | Beth-Ann | Episode: "Up All Night" |
| 2019 | Treat Yourself | Herself | Episode: "Treat Yourself with Nicole Richie" |
| Grace and Frankie | Kareena G | Episode: "The Squat" |
| 2020 | Bless This Mess | Sierra | Recurring Cast: Season 2 |
| Nikki Fre$h | Nikki Fre$h | Main Cast |
| 2020–22 | Making the Cut | Herself/Judge | Main Judge: Season 1 & 3 |
| 2021 | Mary McCartney Serves It Up | Herself | Episode: "Episode " |
| Martha Gets Down and Dirty | Herself | Episode: "Fowl Play with Martha" |
| 2022 | Paris in Love | Herself | Episode: "I Do, Don't I? Part Two" |
| Baking It | Herself | Episode: "Episode " |
| 2023 | HouseBroken | Ivy (voice) | Recurring Cast: Season 2 |
| 2024 | Paris & Nicole: The Encore | Herself | Main Cast |
