| Year | Title | Role | Notes |
| 1976 | Stalk the Wild Child | Jean | |
| I Want to Keep My Baby! | Rae Finer | |
| 1977 | Mary Jane Harper Cried Last Night | Judy | |
| Having Babies II | Cheryl | Uncredited |
| Intimate Strangers | Unknown | |
| 1979 | Like Normal People | Jan | |
| 1979–1982 | Taxi | Zena Sherman | 5 episodes |
| 1982 | The Selling of Vince D'Angelo | Mrs. D'Angelo | Television film |
| Drop Out Father | Tawney Shapiro |
| 1982–1993 | Cheers | Carla Tortelli / Annette Lozupone (one episode) | Main roleAmerican Comedy Award for Funniest Supporting Female in a Television SeriesPrimetime Emmy Award for Outstanding Supporting Actress in a Comedy Series (1984–86, 1989)Viewers for Quality Television Award for Best Supporting Actress in a Quality Comedy SeriesNominated—American Comedy Award for Funniest Supporting Female in a Television SeriesNominated—Golden Globe Award for Best Supporting Actress – Series, Miniseries or Television Film (1985, 1987–90, 1992)Nominated—Primetime Emmy Award for Outstanding Supporting Actress in a Comedy Series (1983, 1987–88, 1990–91, 1993) |
| 1983 | Likely Stories, Vol. 2 | Vince's Wife | Television film |
| Saturday Night Live | Herself (co-host) | Episode: "Danny DeVito & Rhea Perlman / Eddy Grant" |
| 1984 | The Ratings Game | Francine Kester | Voice, television film |
| 1985 | A Girl Named Alida | Rose Johnson |
| St. Elsewhere | Carla Tortelli | Episode: "Cheers" |
| 1986 | Amazing Stories | Lois | Episode: "The Wedding Ring" |
| Annie | Rose Johnson | Voice, 12 episodes |
| 1987 | The Tortellis | Carla Tortelli | Episode: "Pilot" |
| Stamp of a Killer | Claudia | Television film |
| 1988 | A Family Again | Aunt Dee |
| 1989 | Alida's Problem? | Rose Johnson |
| 1990 | The Earth Day Special | Paula | Television special |
| 1991 | Blossom | The Godmother | Episode: "Dad's Girlfriend" |
| Sesame Street | The Old Woman Who Lives in a Shoe | Episode: "The Old Woman Who Lives in a Shoe's house arrives on Sesame Street" |
| 1992 | Roc | Connie Mason | Episode: "The Stan Who Came to Dinner" |
| 1993 | A Place to Be Loved | Jerri Blair | Television film |
| 1994 | The Simpsons | Carla Tortelli | Voice, episode: "Fear of Flying" |
| In Spite of Love | Emma | Television film |
| All-Star 25th Birthday: Stars and Street Forever! | Worm TV Host |
| 1995 | The Critic | Ardeth | Voice, 2 episodes |
| 1996–1997 | Pearl | Pearl Caraldo | 22 episodes |
| 1997 | Union Square | Mrs. Eileen Mulrooney | Episode: "Harassed" |
| Almost Perfect | Rhea Perlman | Episode: "Dating for Ratings" |
| 1998 | In the Doghouse | Phil Markowitz | Television film |
| Houdini | Esther |
| 1999 | H-E Double Hockey Sticks | Mrs. Beelzebub |
| Mad About You | Ramona | Episode: "Valentine's Day" |
| 2000 | A Tale of Two Bunnies | Thelma | Television film |
| Secret Cutting | Dr. Parella |
| How to Marry a Billionaire: A Christmas Tale | Jacqueline Kennedy |
| 2001 | Ally McBeal | Dr. Helen Tooth | Episode: "Falling Up" |
| Kate Brasher | Abbie Shaeffer | 6 episodes |
| Becker | Dr. Katherine Simmons | Episode: "Psycho Therapy" |
| 2002 | Frasier | Carla Tortelli | Episode: "Cheerful Goodbyes" |
| What's New, Scooby-Doo? | Agnes | Voice, episode: "A Scooby-Doo Halloween" |
| 2003 | Karen Sisco | Louise Salchek | Episode: "Dumb Bunnies" |
| Other People's Business | Mrs. Wabash | Television film |
| 2004 | Kevin Hill | Eleanor Frank | Episode: "Homework" |
| 2006 | Crumbs | Camile Spadaro | Episode: "A Loon Again, Naturally" |
