| Year | Title | Role | Notes |
| 1977 | The Richard Pryor Show | Featured Performer | 4 episodes |
| 1985 | Alfred Hitchcock Presents | Karen | Episode: "Night Caller" |
| 1990 | Pee-Wee's Playhouse | Rhonda | Episode: "Camping Out" |
| 1991–1997, & 2018 | Roseanne | Nancy Bartlett | Recurring role |
| 1992 | Sandra After Dark, with Your Hostess, Sandra Bernhard | Herself (also co-executive producer) | TV movie |
| 1992–1993 | The A-List | Herself/host | 1 episode |
| 1994–1996 | Reel Wild Cinema | Herself/host | 22 episodes |
| 1995 | Space Ghost Coast to Coast | Herself | 1 episode |
| Freaky Friday | Frieda Debny | TV movie |
| The Larry Sanders Show | Herself | 2 episodes |
| 1996 | Dr. Katz, Professional Therapist | Voice, episode: "A Journey for the Betterment of People" |
| The Late Shift | TV movie |
| Highlander: The Series | Carolyn Marsh | Episode: "Dramatic License" |
| 1997 | Superman: The Animated Series | Ms. Gsptlsnz | Voice, episode: "Mxyzpixilated" |
| Ally McBeal | Caroline Poop | 2 episodes |
| Spider-Man | Sarah Baker | Voice, episode: "Partners" |
| 1998–1999 | Hercules | Cassandra | Voice, main role |
| 1999 | Sandra Bernhard - I'm Still Here..Damn It! | Herself (also writer) | TV movie |
| 2000 | The Sopranos | Herself | Episode: "D-Girl" |
| 2001–2002 | Will & Grace | 2 episodes |
| 2001 | Sandra Bernhard: Giving Them Lip | TV movie |
| 2002 | The Grumpy Bug | Narrator | Nick Jr. Short Series |
| 2001–2003 | The Sandra Bernhard Experience | Herself/host | Unknown episodes |
| 2003 | Law & Order: Special Victims Unit | Priscilla Chaney | Episode: "Desperate" |
| Girlfriends | Marcia | Episode: "And Baby Makes Four" |
| 2004 | Silver Lake | Sheila Fontana | Unsold pilot |
| The Grumpy Bug | Narrator | Voice |
| Whoopi's Littleburg | The Macaroni Lady | 1 episode |
| 2005 | Crossing Jordan | Roz Framus | 2 episodes |
| The L Word | Charlotte Birch | 5 episodes |
| 2005–2006 | The Queer Edge | Herself/co-host | 26 episodes |
| 2007 | Las Vegas | Margo Poon | Episode: "The Burning Bedouin" |
| The New Adventures of Old Christine | Audrey | Episode: "Strange Bedfellows" |
| 2009 | Head Case | Herself | 1 episode |
| 2011 | Roseanne's Nuts | Herself | 1 episode |
| Hot in Cleveland | Nan | Episode: "Beards" |
| 2012 | Family Guy | Herself | Voice, episode: "Ratings Guy" |
| GCB | Debby Horowitz | 1 episode |
| DTLA | Carla | 3 episodes |
| 2013 | The Neighbors | Ms. Porsche | 1 episode |
| 2014 | Switched at Birth | Prof. Teresa Ledarsky | 4 episodes |
| You're the Worst | Herself | 1 episode |
| 2014–2015 | Brooklyn Nine-Nine | Darlene Linetti | 3 episodes |
| 2015 | 2 Broke Girls | Joedth | 5 episodes |
| 2016 | Difficult People | Lilith Feigenbaum | 1 episode |
| 2017 | Broad City | Brenda | 2 episodes |
| 2018–2021 | Pose | Judy Kubrak | 13 episodes |
| 2018 | American Horror Story: Apocalypse | High Priestess Hannah Putt | Episode: "Sojourn" |
| 2019 | Sweetbitter | Maddie Glover | 1 episode |
