| 2024 | Jim Henson: la audacia de las ideas | Self (archive footage) |
| 2021 | Los amigos del barrio: Cómo llegamos a Barrio Sésamo | Self (archive footage) |
| 2019 | Sesame Street: 50 Years and Counting | Ernie |
| 2015 | In Their Own Words: Jim Henson | Self (archive footage) |
| 2015 | I Am Big Bird: The Caroll Spinney Story | Self |
| 2014 | Jim Henson: Behind the Seams | — |
| 2009 | Jim Henson: His Sesame Street Story | — |
| 2009 | Jim Henson's Tales From Muppetland | — |
| 2007 | Reflections of 'The Dark Crystal' | Himself |
| 2006 | A Sesame Street Christmas Carol | Ernie (voice) |
| 2004 | Muppet History 101 | — |
| 2004 | Muppet Music Moments | Self |
| 2004 | Jim Henson: Commercials and Experiments | — |
| 2003 | Muppets Magic From 'The Ed Sullivan Show!' | Muppet Performer |
| 2001 | The Very Best of the Muppet Show: Volume 3 | Kermit the Frog / Waldorf / Rowlf / Link Hogthrob |
| 1999 | The Very Best of the Muppet Show | Kermit the Frog / Waldorf / Rowlf / The Swedish Chef |
| 1999 | The Very Best of the Muppet Show: Volume 2 | Kermit the Frog / Waldorf / Rowlf / The Swedish Chef |
| 1998 | The Best of Kermit on Sesame Street | Kermit the Frog (voice) (archive footage) |
| 1994 | The World of Jim Henson | Self / Kermit the Frog / Rowlf (archive footage) |
| 1993 | Sesame Street: 25 Wonderful Years: A Musical Celebration! | Ernie |
| 1991 | Muppet*Vision 3D | Waldorf (voice only) / Kermit the Frog / Swedish Chef (voice only) / Doll |
| 1990 | Los Teleñecos celebran a Jim Henson | Self, various voices (archive footage) |
| 1990 | Jim Henson: In Performance | — |
| 1990 | Los Teleñecos en Walt Disney World | Kermit the Frog / Rowlf / Dr. Teeth / Waldorf / Swedish Chef / Link Hogthrob (voice) |
| 1990 | Sesame Street: Sing Yourself Silly! | — |
| 1990 | Sesame Street: Monster Hits! | Harvey Monster (voice) |
| 1989 | An Evening with Jim Henson and Frank Oz | Self |
| 1989 | Miss Piggy's Hollywood | Waldorf |
| 1989 | Dog City: The Movie | Self / Kermit the Frog / Rowlf the Dog / Bugsy Them (voice) |
| 1989 | The Jim Henson Hour (serie) | — |
| 1988 | Free to Be... a Family | Kermit the Frog (voice) |
| 1988 | Wow, You're A Cartoonist! | Kermit The Frog |
| 1988 | Sesame Street: Put Down the Duckie: An All-Star Musical Special | Muppet Performer |
| 1988 | The Best of Ernie and Bert | Ernie |
| 1988 | Muppet Studios Presents: You're the Director | Kermit the Frog / Swedish Chef / Rowlf the Dog / Link Hogthrob (voice) |
| 1988 | Jim Henson: Sing-Along, Dance-Along, Do-Along | Rowlf the Dog (voice) |
| 1988 | Hey, You're as Funny as Fozzie Bear | Kermit the Frog (voice) |
| 1987 | Una Navidad con los Teleñecos | Various Characters |
| 1987 | Dolly (serie) | Kermit the Frog (voice) |
| 1987 | Down at Fraggle Rock | Cantus the Minstrel / Convincing John / Self / Host |
| 1987 | Sesame Street: Sing Along | — |
| 1986 | Inside the Labyrinth | Self |
| 1986 | Sesame Street: Learning About Letters | Ernie/Kermit the Frog/King Peter the Persnickety (voice) |
| 1986 | Wedden, dat..? (serie) | Self |
| 1986 | Sesame Street: Sleepytime Songs & Stories | Ernie / The King (Bedtime Stories & Songs) (voice) |
| 1985 | Muppet Video: Rowlf's Rhapsodies with the Muppets | Rowlf (voice) |
| 1985 | Little Muppet Monsters (serie) | — |
| 1985 | Barrio Sésamo: Sigue a ese pájaro | Kermit the Frog / Ernie (voice) |
| 1985 | Momentos memorables de Los Teleñecos | Kermit The Frog (voice) |
| 1985 | Gonzo Presents Muppet Weird Stuff | Kermit the Frog |
| 1985 | Muppet Video: The Kermit and Piggy Story | Kermit the Frog (voice) |
| 1985 | The Muppet Revue | Kermit the Frog (voice) |
| 1985 | Children's Songs and Stories with the Muppets | Kermit the Frog (voice) |
| 1984 | The Bells of Fraggle Rock | Cantus the Minstrel (voice) |
| 1984 | Henson's Place: The Man Behind the Muppets | Jim Henson (self) |
| 1983 | Don't Eat the Pictures: Sesame Street at the Metropolitan Museum of Art | Ernie (voice) |
| 1983 | Reading Rainbow (serie) | Kermit the Frog |
| 1983 | Big Bird in China | Ernie (voice) |
| 1983 | Rocky Mountain Holiday with John Denver and the Muppets | Kermit the Frog / Rowlf the Dog / Waldorf / Zeke (voice) |
| 1983 | Fraggle Rock (serie) | Cantus the Minstrel, Convincing John, Additional Muppets (voice) |
| 1983 | The World of 'The Dark Crystal' | Himself |
| 1983 | Muppet Breakthrough | Leo |
| 1982 | Cristal oscuro | Jen / High Priest, Ritual Master |
| 1982 | The Fantastic Miss Piggy Show | Kermit The Frog |
| 1982 | Wogan (serie) | Self |
| 1981 | Of Muppets & Men | Self |
| 1981 | Muppet Side Splitter | Leo (voice) |
| 1981 | El gran golpe de los Teleñecos | Kermit the Frog / Rowlf the Dog / Dr. Teeth / Waldorf / Swedish Chef / The Muppet Newsman |
| 1981 | The Muppets Go to the Movies | Kermit / Rowlf / Link Hogthrob / The Swedish Chef / Waldorf |
| 1979 | John Denver and the Muppets: A Christmas Together | Kermit the Frog / Rowlf / Waldorf / Dr. Teeth / The Swedish Chef (voice) |
| 1979 | The Muppets Go Hollywood | Various Muppets |
| 1979 | The Orson Welles Show | Self / Kermit the Frog (voice) |
| 1979 | Meal Break | Leo / Spaghetti |
| 1979 | Grump Critic | Leo |
| 1979 | Let's Have the Dam Break | Leo |
| 1979 | Muppet Breaker Upper | Leo |
| 1979 | Muppet Gimme a Break | Leo / Pasta in "Meal Break" |
| 1978 | Christmas Eve on Sesame Street | Kermit the Frog / Ernie (voice) |
| 1978 | Hip Hip Parade! | Kermit the Frog |
| 1978 | Julie Andrews: One Step Into Spring | Kermit The Frog / Rowlf the Dog / Dr. Teeth |
| 1977 | The Bob Hope All Star Christmas Comedy Special | Kermit the Frog / Rowlf |
| 1977 | La banda de Emmet celebra la Navidad | Kermit the Frog / Harrison Fox / Harvey / Snake (voice) |
| 1977 | Sesame Street at Night? | Guy Smiley / Ernie / Kermit the Frog (voice) (archive footage) |
| 1976 | El show de los Teleñecos (serie) | Kermit the Frog, Waldorf, Rowlf the Dog, Link Hogthrob, The Swedish Chef, Dr. Teeth, The Newsman (voice) |
| 1976 | The Muppet Show Pitch Reel | Leo / Kermit the Frog (voice) |
| 1975 | Julie: My Favourite Things | Kermit the Frog/Dr. Teeth |
| 1975 | Muppet Picker Upper | Kermit the Frog / Leo (voice) |
| 1975 | The Muppet Introduction | Kermit the Frog |
| 1975 | Just a Few Announcements | Kermit the Frog |
| 1972 | The Muppet Musicians of Bremen | Kermit the Frog/Mean Floyd/Rat (voice) |
| 1971 | The King of Eight | The King of Eight |
| 1971 | Los Teleñecos en El príncipe rana | Kermit/Garth/King Rupert (voice) |
| 1971 | Pure Goldie | Kermit the Frog (voice) |
| 1971 | Great Performances (serie) | Kermit the Frog (voice) |
| 1970 | The Great Santa Claus Switch | Fred/Lothar (voice) |
| 1970 | The Muppets on Puppets | Himself |
| 1969 | Sesame Unpaved (serie) | — |
| 1969 | This Way to Sesame Street | Ernie/Kermit |
| 1969 | Sesame Street Pitch Reel | Kermit the Frog / Rowlf / Grump / Conrad Love / The Spook |
| 1969 | Los Teleñecos: Hey Cinderella! | Kermit The Frog/King Goshposh/Rufus (voice) |
| 1968 | The Dick Cavett Show (serie) | Invitado especial |
| 1967 | The Paperwork Explosion | — |
| 1966 | The Idea Man | Limbo |
| 1966 | I'm Nobody | Limbo (voice) |
| 1966 | Limbo: The Organized Mind | Limbo (voice) |
| 1966 | Rowlf the Salesman | Rowlf the Dog |
| 1966 | Goldene Kamera Verleihung (serie) | Self (archive footage) |
| 1965 | Alexander the Grape | Freddy the Fierce (voice) |
| 1965 | Time Piece | Man |
| 1962 | Tales of the Tinkerdee | Kermit the Frog / King Goshposh / Charlie the Ogre (voice) |
| 1961 | The Mike Douglas Show (serie) | Self |
| 1955 | Sam and Friends (serie) | Kermit the Frog |
