| 2024 | Jim Henson: la audacia de las ideas | Self |
| 2024 | ¡STEVE! (martin): un documental en 2 partes (serie) | Self - Director |
| 2022 | Jerry Nelson: A Celebratory Birthday Animatic | Grover (voice) / Cookie Monster (voice) / others (voice) |
| 2022 | Obi-Wan Kenobi (serie) | Yoda (voice) (archive footage) (uncredited) |
| 2021 | Los amigos del barrio: Cómo llegamos a Barrio Sésamo | Self (archive footage) |
| 2021 | Echoes of Violence | Dante |
| 2020 | Star Wars: Jedi Temple Challenge (serie) | Yoda (voice) |
| 2020 | Muppet Guys Talking: A Special Conversation to Honor Jim Henson | Himself |
| 2019 | Sesame Street: 50 Years and Counting | Cookie Monster |
| 2017 | Muppet Guys Talking: Secrets Behind the Show the Whole World Watched | Himself |
| 2015 | In Their Own Words: Jim Henson | Self - Friend & Muppet Performer |
| 2015 | I Am Big Bird: The Caroll Spinney Story | Self |
| 2015 | StarTalk with Neil deGrasse Tyson (serie) | Self |
| 2014 | Star Wars Rebels (serie) | Yoda (voice) |
| 2014 | Jim Henson: Behind the Seams | — |
| 2011 | Being Elmo: A Puppeteer's Journey | Self |
| 2009 | Jim Henson: His Sesame Street Story | — |
| 2009 | Jim Henson's Tales From Muppetland | — |
| 2006 | A Sesame Street Christmas Carol | Bert (voice) |
| 2006 | Sesame Street: Elmo's Potty Time | Grover (voice) |
| 2005 | Zathura: Una aventura espacial | Robot (voice) |
| 2005 | La guerra de las galaxias. Episodio III: La venganza de los Sith | Yoda (voice) |
| 2004 | Muppet History 101 | — |
| 2004 | Jim Henson: Commercials and Experiments | — |
| 2004 | Muppet Music Moments | Self |
| 2004 | Kulturplatz (serie) | Self |
| 2004 | Sesame Street: Cookie Monster's Best Bites | Cookie Monster (voice) |
| 2003 | Sesame Street: Let's Eat! Funny Food Songs | Grover / Cookie Monster (voice) |
| 2003 | Muppets Magic From 'The Ed Sullivan Show!' | Muppet Performer |
| 2002 | Films Are Not Released, They Escape | Self |
| 2002 | From Puppets to Pixels: Digital Characters in 'Episode II' | Self / Yoda |
| 2002 | La guerra de las galaxias. Episodio II: El ataque de los clones | Yoda (voice) |
| 2001 | The Very Best of the Muppet Show: Volume 3 | Fozzie Bear / Miss Piggy / Sam the Eagle / Animal / Wolf |
| 1999 | Los Teleñecos en el espacio | Miss Piggy / Fozzie Bear / Animal / Sam the Eagle (voice) |
| 1999 | The Very Best of the Muppet Show | Fozzie Bear / Miss Piggy / Animal / Sam the Eagle |
| 1999 | The Very Best of the Muppet Show: Volume 2 | Fozzie Bear / Miss Piggy / Animal / Sam the Eagle |
| 1998 | The Best of Kermit on Sesame Street | Grover (voice) |
| 1998 | Sesame Street: Elmopalooza! | Grover / Cookie Monster / Bert (voice) |
| 1998 | Blues Brothers 2000 (El ritmo continúa) | Warden |
| 1996 | Barrio Sésamo: Elmo salva la Navidad | Cookie Monster (voice) |
| 1996 | Muppets Tonight (serie) | Miss Piggy / Fozzie Bear / Animal / George the Janitor |
| 1996 | Sesame Street: Do the Alphabet | Cookie Monster / Green (voice) (archive footage) |
| 1996 | Sesame Street: Kid's Guide to Life: Learning to Share | Cookie Monster |
| 1994 | The World of Jim Henson | Self / Miss Piggy / Fozzie Bear |
| 1994 | Cuentos clásicos con Los Teleñecos | Miss Piggy / Fozzie Bear (voice) |
| 1993 | Sesame Street: 25 Wonderful Years: A Musical Celebration! | Grover |
| 1991 | Muppet*Vision 3D | Sam Eagle / Miss Piggy / Fozzie Bear |
| 1990 | Los Teleñecos celebran a Jim Henson | Self / Miss Piggy / Fozzie Bear / Animal / Bert / ... (voice) |
| 1990 | Disneyland's 35th Anniversary Special | Miss Piggy (voice) |
| 1990 | Los Teleñecos en Walt Disney World | Miss Piggy / Fozzie Bear / Animal (voice) |
| 1990 | Sesame Street: Sing Yourself Silly! | — |
| 1990 | Sesame Street: Monster Hits! | Cookie Monster (voice) / Grover (voice) / Clancy (voice) |
| 1989 | An Evening with Jim Henson and Frank Oz | Self |
| 1989 | Miss Piggy's Hollywood | Miss Piggy / Fozzie Bear |
| 1989 | The Jim Henson Hour (serie) | — |
| 1988 | Sesame Street: Put Down the Duckie: An All-Star Musical Special | Muppet Performer |
| 1988 | The Best of Ernie and Bert | Bert |
| 1988 | Hey, You're as Funny as Fozzie Bear | Fozzie Bear (voice) |
| 1987 | Una Navidad con los Teleñecos | Various Characters |
| 1987 | Sesame Street: Sing Along | — |
| 1986 | The Muppets: A Celebration of 30 Years | Fozzie Bear / Miss Piggy / Sam the Eagle / Bert / Animal / Grover / Cookie Monster / Marvin Suggs |
| 1985 | Espías como nosotros | Test Monitor |
| 1985 | Muppet Video: Rowlf's Rhapsodies with the Muppets | Miss Piggy / Fozzie Bear (voice) |
| 1985 | Little Muppet Monsters (serie) | — |
| 1985 | Barrio Sésamo: Sigue a ese pájaro | Cookie Monster / Bert / Grover / Additional Muppets (voice) |
| 1985 | Momentos memorables de Los Teleñecos | Fozzie Bear (voice) |
| 1985 | The Muppet Revue | Fozzie Bear / Miss Piggy (voice) |
| 1985 | Muppet Video: The Kermit and Piggy Story | Miss Piggy (voice) |
| 1985 | Children's Songs and Stories with the Muppets | Miss Piggy (voice) |
| 1984 | Henson's Place: The Man Behind the Muppets | Frank Oz (self) |
| 1983 | Don't Eat the Pictures: Sesame Street at the Metropolitan Museum of Art | Bert / Cookie Monster / Grover (voice) |
| 1983 | Big Bird in China | Bert / Grover / Cookie Monster (voice) |
| 1983 | Rocky Mountain Holiday with John Denver and the Muppets | Miss Piggy / Fozzie Bear / Animal / Gramps (voice) |
| 1983 | The World of 'The Dark Crystal' | Himself |
| 1983 | Muppet Breakthrough | Grump |
| 1982 | Cristal oscuro | Aughra, a Keeper of Secrets / Chamberlain |
| 1982 | The Fantastic Miss Piggy Show | Miss Piggy / Fozzie Bear / Animal (voice) |
| 1982 | Return of the Ewok | Yoda (voice) |
| 1981 | Of Muppets & Men | Self |
| 1981 | Muppet Side Splitter | Grump (voice) |
| 1981 | El gran golpe de los Teleñecos | Miss Piggy / Fozzie Bear / Sam the Eagle / Animal (voice) |
| 1981 | The Muppets Go to the Movies | Miss Piggy / Fozzie Bear / Animal / Sam Eagle |
| 1980 | Los efectos especiales de El Imperio Contraataca | Yoda |
| 1979 | John Denver and the Muppets: A Christmas Together | Miss Piggy / Fozzie Bear / Animal (voice) |
| 1979 | The Muppets Go Hollywood | Various Muppets |
| 1979 | The Orson Welles Show | Self / Fozzie Bear / Animal / Sam Eagle (voice) |
| 1979 | Grump Critic | Grump |
| 1979 | Let's Have the Dam Break | Grump |
| 1979 | Meal Break | Grump |
| 1979 | Muppet Breaker Upper | Grump / Quongo |
| 1979 | Muppet Gimme a Break | Grump |
| 1978 | Christmas Eve on Sesame Street | Bert / Cookie Monster / Grover (voice) |
| 1978 | Hip Hip Parade! | Fozzie Bear |
| 1978 | Julie Andrews: One Step Into Spring | Miss Piggy / Fozzie Bear |
| 1978 | An Audience with... (serie) | Miss Piggy |
| 1977 | La banda de Emmet celebra la Navidad | Chuck (voice) |
| 1977 | Sesame Street at Night? | Grover / Cookie Monster / Bert (voice) (archive footage) |
| 1976 | El show de los Teleñecos (serie) | Miss Piggy / Fozzie Bear / Animal / Sam Eagle / Marvin Suggs / George the Janitor (voice) |
| 1975 | Muppet Picker Upper | Sam the Eagle (voice) |
| 1975 | Just a Few Announcements | Sam the Eagle |
| 1975 | The Muppet Introduction | Sam the Eagle |
| 1973 | Julie on Sesame Street | — |
| 1972 | The Muppet Musicians of Bremen | Rat (voice) |
| 1971 | Los Teleñecos en El príncipe rana | Gawain (voice) |
| 1971 | Great Performances (serie) | Self |
| 1970 | The Great Santa Claus Switch | Thig/Skippity/Hoppity/Boppity/Snerf (voice) |
| 1970 | The Muppets on Puppets | Himself |
| 1969 | Sesame Unpaved (serie) | — |
| 1969 | This Way to Sesame Street | Bert |
| 1969 | Los Teleñecos: Hey Cinderella! | Stepsister #1/Splurge (voice) |
| 1968 | The Dick Cavett Show (serie) | Invitado especial |
| 1967 | The Paperwork Explosion | — |
| 1965 | Time Piece | Messenger boy |
| 1961 | The Mike Douglas Show (serie) | Self |
| 1953 | The Oscars (serie) | Self |
