| Year | Single | Chart positions | Album |
| US | USAC |
| 1961 | "I'm Just Taking My Time"b/w "One Life" | – | – | Non-album tracks |
| 1962 | "Too Soon"b/w "Two Different Worlds" (from My Love Forgive Me) | – | – |
| "What Kind of Fool Am I?"b/w "Where Do I Go from Here" (from Two of Us) | 89 | – | My Love Forgive Me |
| "Don't Be Afraid of Romance"b/w "Young at Love" | – | – | Non-album tracks |
| 1963 | "Two of Us"b/w "(These Are) The Closing Credits" (Non-album track) | 132 | – | Two Of Us |
| "Believe in Me"b/w "How Very Special You Are" | – | – | Non-album tracks |
| "Under the Yum Yum Tree"b/w "If You Go" | – | – |
| 1964 | "The Name of the Game"b/w "Choose" | – | – |
| "Too Good"b/w "Seventh Dawn" (Non-album track) | – | – | My Love Forgive Me |
| "My Love, Forgive Me (Amore, scusami)" / | 16 | 2 |
| "I'd Rather Be Rich" | 131 | – | Non-album track |
| 1965 | "Begin to Love"b/w "I Never Got to Paris" | 110 | – | Begin to Love |
| "Summer Sounds"b/w "The More I See of Mimi" (from Begin to Love) | 58 | 14 | Summer Sounds |
| "Come Back to Me, My Love" / | 118 | 5 | On Broadway |
| "On a Clear Day You Can See Forever" | 119 | 13 |
| "Everlasting"b/w "Crazy Heart of Mine" | – | – | Non-album tracks |
| 1966 | "Why Be Ashamed" / | – | 28 |
| "Young Only Yesterday" | – | 37 | I Remember You |
| "Daydreamer" (from The Daydreamer (soundtrack))b/w "My Best Girl" | – | 22 | Non-album tracks |
| "Once I Had a Heart"b/w "I Hear a Different Drummer" | – | 15 |
| "There But for You Go I"b/w "Fortissimo" (from Robert Goulet's Greatest Hits) | – | – | On Broadway, Volume 2 |
| 1967 | "World of Clowns"b/w "Ciao Compare" (from On Broadway, Volume 2) | – | 20 | Non-album tracks |
| "One Life, One Dream"b/w "There's a Way" | – | 33 |
| "The Sinner"b/w "How Can I Leave You" | – | 29 |
| "Mon Amour, Mon Amour"b/w "This Year" | – | – |
| "If Ever I Would Leave You"b/w "Follow Me" | – | – |
| 1968 | "The Happy Time"b/w "I Don't Remember You" | – | 33 | The Happy Time (Soundtrack) |
| "What a Wonderful World"b/w "I Don't Want to Hurt You Anymore" (Non-album track) | – | 26 | Woman, Woman |
| "Thirty Days Hath September"b/w "A Chance to Live in Camelot" (Non-album track) | – | 17 | Both Sides Now |
| "Hurry Home for Christmas"b/w "A Wonderful World of Christmas" | – | – | Robert Goulet's Wonderful World of Christmas |
| 1969 | "Wait for Me"b/w "I'll Catch the Sun" | – | – | Non-album tracks |
| "Didn't We"b/w "Bon Soir Dame" (from Both Sides Now) | – | 33 | I Wish You Love |
| "Only Yesterday"b/w "One Life to Live" | – | – | Non-album tracks |
| "One Night"b/w "I Can't Live Without You" | – | – |
| 1970 | "My Woman, My Woman, My Wife"b/w "Come Saturday" | – | – | Robert Goulet Sings Today's Greatest Hits |
| "Healing River"b/w "One at a Time" | – | – | Non-album tracks |
| 1973 | "God Is at Work Within You"b/w "One Solitary Life" | – | – |
| 1974 | "Pages of Life"b/w "Summer Green, Autumn Gold" | – | – |
| "The Little Prince"b/w "I Won't Send Roses" | – | – | After All Is Said and Done |
| 1975 | "Someone to Give My Love To"b/w "Something to Believe In" | – | – |
| 1976 | "After All Is Said and Done"b/w "The Little Prince" | – | – |
| 1999 | "You've Got a Friend in Me" | - | - | Toy Story 2: An Original Walt Disney Records Soundtrack |
| 2001 | "Green Tambourine" | - | - | Recess: School's Out (Original Movie Soundtrack) |
