| Year | Title | Role | Notes |
| 1995 | Cleghorne! | Victoria | Main cast |
| 1997 | Claude's Crib | Lorene | Episode: "Clothes Encounter" |
| Living Single | The Comedienne | Episode: "Swing Out Sisters" |
| Suddenly Susan | Roni | Episode: "It's a Mad, Mad, Mad, Maddy World" |
| 1998 | Friends | Rhonda, The Tour Guide | Episode: "The One with Phoebe's Uterus" |
| 1998–99 | Holding the Baby | Miss Boggs | Main cast |
| 1998–03 | Everybody Loves Raymond | Judy Potter | Guest: season 2–5, recurring cast: season 7 |
| 1999–00 | Suddenly Susan | Miranda Charles | Main cast: season 4 |
| 1999–01 | The Jamie Foxx Show | Sheila Yarborough | Recurring cast: season 4-5 |
| 2000 | The Trouble with Normal | Nina | Episode: "Psychologists Without Borders" |
| 2001 | Rendez View | Herself/Guest Hostess | Episode: "Teacher's Pet!" |
| Emeril | Melva LeBlanc | Main cast |
| 2002 | Men, Women & Dogs | Dr. Michaels | Episode: "Cheese Dog" |
| My Adventures in Television | Joanna Walker | Main cast |
| 2002–04 | Pyramid | Herself/Celebrity Contestant | Recurring Guest |
| 2002–06 | Less than Perfect | Ramona Platt | Main cast |
| 2003 | Laffapalooza | Herself | Episode: "Laffapalooza Volume 4" |
| Joan of Arcadia | MVA Clerk God | Episode: "Drive, He Said" |
| 2003–04 | Hollywood Squares | Herself/Panelist | Recurring Guest |
| 2004 | My Coolest Years | Herself | Episode: "My First Time, Summer Vacation" |
| 2004–06 | Brandy & Mr. Whiskers | Cheryl/Meryl (voice) | Recurring cast |
| 2004–07 | Kim Possible | M.C Honey (voice) | Guest: season 2-4 |
| 2005 | Steve Harvey's Big Time Challenge | Herself | Episode: "Episode #2.20" |
| 2006 | BET's Top 25 | Herself | Episode: "Moments in Black History" |
| 2007 | The Wedding Bells | Debbie Quill | Recurring cast |
| Wheel of Fortune | Herself | Episode: "People Celebrity Week 2" |
| 2007–12 | 30 Rock | Angie Jordan | Guest: season 1 & 4 & 6, recurring cast: season 2-3 & 5 |
| 2007–14 | The View | Herself | Guest-Host: season 11-17 |
| 2008 | Daytime Emmy Awards | Herself/hostess | TV special |
| Entourage | Herself | Episode: "Fire Sale" |
| 2009 | Annual Trumpet Awards | Herself/hostess | TV special |
| Sherri | Sherri Robinson | Main cast |
| Who Wants to Be a Millionaire | Herself/Celebrity Contestant | Episode: "John/Brian/Anthony°" |
| 2010 | The Jacksons: A Family Dynasty | Herself | Episode: "Come Together" |
| The Electric Company | Herself | Episode: "Wicked Itch" |
| Nickelodeon MegaMusic Fest | Herself/host | TV special |
| Sesame Street | Herself | Episode: "Twins Day on Sesame Street" |
| 2010–13 | The Newlywed Game | Herself/host | TV series |
| 2011 | GMA Dove Award | Herself/host | TV special |
| The Jerry Lewis MDA Labor Day Telethon | Herself | Episode: "MDA Labor Day Telethon 2011" |
| Hot in Cleveland | Judge Lesser | Episode: "Hot for the Lawyer" & "Law & Elka" |
| 2012 | Dancing With The Stars | Herself | Contestant: Season 14 |
| 2012–15 | The Soul Man | Nikki | Guest: season 1, recurring cast: season 4 |
| 2013 | Dance Moms | Herself | Episode: "The View from the Top" |
| Spontaneous Construction | Herself | Episode: "Super Storm Sandy Flash Mob Renovation" |
| How I Met Your Mother | Daphne | Recurring cast: Season 9[2] |
| 2013–14 | NickMom Night Out | Herself/hostess | TV series |
| 2014 | The Mommy Show | Herself | Episode: "Sherri Shepherd" |
| Nashville | Herself | Episode: "Crazy" |
| Extreme Weight Loss | Herself | Episode: "Kathie and Josh" |
| 2014–15 | Celebrity Name Game | Herself/Celebrity Player | Recurring Guest |
| 2015 | Consumed: The Real Restaurant Business | Herself | Episode: "Eat or Get Eaten" |
| Tanked | Herself | Episode: "Sherri Shepherd on the Rocks" |
| Holy & Hungry | Herself/hostess | TV series |
| World's Funniest | Herself/Panelist | Episode: "Internet Yearbook" |
| 2015–16 | Guilty Pleasures | Herself | Episode: "Holiday Decadence" & "Chocolate Obsessions" |
| 2015–18 | K.C. Undercover | Agent Beverly | Recurring cast: season 1 & 3 |
| 2016 | 31st Annual Stellar Gospel Music Awards | Herself/host | TV special |
| Match Made in Heaven | Herself | Host: season 2 |
| The $100,000 Pyramid | Herself/Celebrity Player | Episode: "Sherri Shepherd vs. Anthony Anderson and Rosie O'Donnell vs. Kathy Najimy" |
| Rosewood | Dr. Anita Eubanks | Recurring cast: season 1 |
| 2016–20 | Match Game | Herself/Celebrity Panelist | Recurring Guest |
| 2017 | Gotham Comedy Live | Herself/hostess | Episode: "Sherri Shepherd" |
| Face Value | Herself/Team Captain | Episode: "Ta'Rhonda Jones Vs. Sherri Shepherd" |
| Who Wants to Be a Millionaire | Herself/Celebrity Contestant | Episode: "Episode #16.69" & "Episode #16.70" |
| 2017–18 | Man with a Plan | Joy | Recurring cast: season 2 |
| Trial & Error | Anne Flatch | Main cast |
| 2017–19 | Hollywood Game Night | Herself/Celebrity Player | Recurring Guest |
| Funny You Should Ask | Herself | Recurring Guest |
| 2017–21 | To Tell the Truth | Herself/Celebrity Panelist | Recurring Guest |
| 2018 | Celebrity Family Feud | Herself | Episode: "Sherri Shepherd vs Ian Ziering and Tommy Chong vs Derek Fisher & Gloria Govan" |
| Marlon | Lenora | Episode: "Sisters" |
| 2019 | Best Ever Trivia Show | Herself/host | TV series |
| The $100,000 Pyramid | Herself/Celebrity Player | Episode: "Rachel Dratch vs. Kevin Nealon and Sherri Shepard vs. Adam Pally" |
| The Masked Singer | Penguin/Herself | Contestant: Season 2 |
| Rick and Morty | Judge/Tony's Wife (voice) | Episode: "Edge of Tomorty: Rick Die Rickpeat" & "The Old Man and the Seat" |
| 2019–20 | Mr. Iglesias | Principal Paula Madison | Main cast |
| 2019- | Dish Nation | Herself/co-host | TV series |
| 2020 | Celebrity Game Face | Herself | Episode: "Pointing Fingers and Toilet Paper Takedown" |
| Iyanla, Fix My Life | Herself | Episode: "The Masks We Wear" |
| Game On: A Comedy Crossover Event | Principal Paula Madison | Episode: "Mr. Iglesias: Olympic Effort" |
| 2021 | Celebrity Game Face | Herself | Episode: "Balloon Twerks and Googly Eyes" |
| 25 Words or Less | Herself | Recurring Guest |
| Celebrity Wheel of Fortune | Herself/Celebrity Contestant | Episode: "Rachel Leigh Cook, Sherri Shepherd and Kevin Nealon" |
| The Hollywood Moment | Herself | Episode: "BJ Korros with All Star 99th Birthday Salute to Norman Lear" |
| You Bet Your Life | Herself | Episode: "Sherri Shepherd is Here" |
| No Activity | Carol (voice) | Episode: "Brother Eduardo" |
| Call Your Mother | Sharon | Recurring cast |
| 2021–22 | Wendy Williams Show | Herself/Guest Host | TV series |
| The Sex Lives of College Girls | Senator Evette Chase | Recurring cast |
| 2022 | The Real Housewives of Beverly Hills | Herself | Episode: "It Takes A Villain" |
| 2022- | Sherri | Herself/host | TV series |
| 2023 | Celebrity Jeopardy! | Herself | Contestant |
