| Year | Title | Role | Notes |
|---|
| 1985 | Whoopi Goldberg: Direct from Broadway | Various | TV special |
| Television Parts | Herself |
| 1986 | Moonlighting | Camille Brand | Episode: "Camille" |
| 1987 | Carol, Carl, Whoopi, and Robin | Herself | TV special |
| 1988 | Whoopi Goldberg: Fontaine...
Why Am I Straight? | Fontaine | TV movie; also writer |
| Pee-wee's Playhouse Christmas Special | Herself | TV special |
| 1988–1993 | Star Trek: The Next Generation | Guinan | 28 episodes |
| 1989 | My Past Is My Own | Mariah Johnston | Television movie |
| Kiss Shot | Sarah Collins |
| Hanna-Barbera's 50th: A Yabba Dabba Doo Celebration | Herself |
| 1990 | Tales from the Whoop: Hot Rod Brown Class Clown | Television movie; also executive producer |
| 1990–1991 | Bagdad Cafe | Brenda | 15 episodes |
| 1990–1992 | Captain Planet and the Planeteers | Gaia, The Spirit of Earth | Voice; 60 episodes |
| 1990–2001 | Sesame Street | Herself | 6 episodes |
| 1991 | Chez Whoopi | Herself | HBO standup special |
| Tales from the Crypt | Peligr
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