| Storyline Online | 2021 | Writer | Writer |
| Poker Face | 2025 | Actress | Amber |
| Robogobo | 2025 | Actress | The Slink |
| Wicked | 2024 | Actress | Elphaba |
| 1984 | 2024 | Actress | Julia |
| Moon Girl and Devil Dinosaur | 2024 | Actress | Dr. Ojo (voice) |
| Strange Planet | 2023 | Actress | Dreamer (voice) |
| HouseBroken | 2023 | Actress | Ferris (voice) |
| Star Wars: Visions | 2023 | Actress | Kratu (voice) |
| Luther: The Fallen Sun | 2023 | Actress | Odette Raine |
| Drift | 2023 | Actress | Jacqueline Kamara |
| Kym | 2022 | Actress | Doctor Henry |
| Pinocchio | 2022 | Actress | Blue Fairy |
| Roar | 2022 | Actress | Ambia |
| Fraggle Rock: Back to the Rock | 2022 | Actress | The Archivist (voice) |
| Needle in a Timestack | 2021 | Actress | Janine Mikkelsen |
| Genius | 2021 | Actress | Aretha Franklin |
| Chaos Walking | 2021 | Actress | Hildy |
| Hank the Cowdog | 2020 | Actress | Madame Moonshine |
| James and the Giant Peach with Taika and Friends | 2020 | Actress | Ladybird |
| The Outsider | 2020 | Actress | Holly Gibney |
| The Two Princes | 2019 | Actress | Queen Malkia of the Midlands |
| Harriet | 2019 | Actress | Harriet |
| Carrier | 2019 | Actress | Raylene Watts (voice) |
| Anthem: Homunculus | 2019 | Actress | Joan |
| Broad City | 2017–2019 | Actress | Lisa |
| The Boss Baby: Back in Business | 2018 | Actress | Turtleneck Superstar CEO Baby (voice) |
| Bad Times at the El Royale | 2018 | Actress | Darlene Sweet |
| Widows | 2018 | Actress | Belle |
| The Tunnel | 2016 | Actress | Mel |
| Mr Selfridge | 2016 | Actress | Alberta Hunter |
| Chewing Gum | 2015 | Actress | Magdalene |
| Drift | 2023 | Producer | producer |
| Grandpa Was an Emperor | 2021 | Producer | executive producer |
| Carrier | 2019 | Producer | producer |
| Cynikal feat Cynthia Erivo: Won't Let You Down Music Video | 2012 | Composer | Composer |
| Cynikal feat Cynthia Erivo: Won't Let You Down Music Video | 2012 | Music Department | lyricist |
| Making Wicked | 2024 | Thanks | special thanks |
| Hair Love | 2019 | Thanks | special thanks to our digital kickstarter producers |
| CBS News Sunday Morning with Jane Pauley | 2025 | Soundtrack | performer: "Defying Gravity (feat. nm3812858)", "Stand Up" |
| The Project | 2024 | Soundtrack | performer: "Defying Gravity" |
| Wicked | 2024 | Soundtrack | performer: "The Wizard and I", "What Is This Feeling?", "Something Bad", "Dancing Through Life", "I'm Not That Girl", "One Short Day", "Defying Gravity" |
| Next at the Kennedy Center | 2023 | Soundtrack | performer: "Killing Me Softly with His Song" |
| HouseBroken | 2023 | Soundtrack | performer: "Let's Take Flight", "Let's Take Flight (Reprise)" (uncredited) |
| Drift | 2023 | Soundtrack | performer: "It Would Be" |
| Pinocchio | 2022 | Soundtrack | performer: "When You Wish Upon a Star" |
| Fraggle Rock: Back to the Rock | 2022 | Soundtrack | performer: "Chase the Wind" (uncredited) |
| American Idol | 2021 | Soundtrack | Soundtrack ("Stand Up") |
| Genius | 2021 | Soundtrack | performer: "You're All I Need To Get By", "I Knew You Were Waiting (For Me)", "Nessun Dorma" |
| A Capitol Fourth | 2020 | Soundtrack | performer: "The Good Lyrics" |
| Saturday Night Seder | 2020 | Soundtrack | performer: "When You Believe" |
| Good Morning America | 2020 | Soundtrack | performer: "Over the Rainbow" |
| The Oscars | 2020 | Soundtrack | performer: "Stand Up" |
| Harriet | 2019 | Soundtrack | performer: "Stand Up" |
| The 73rd Annual Tony Awards | 2019 | Soundtrack | performer: "Can You Feel the Love Tonight" |
| Bad Times at the El Royale | 2018 | Soundtrack | performer: "This Old Heart of Mine (Is Weak for You)", "Hold Me in Your Arms, Lift Me on High", "Try a Little Tenderness", "What Becomes of the Brokenhearted", "You Can't Hurry Love", "Unchained Melody", "Hold On, I'm Coming" |
| Black Girls Rock! | 2018 | Soundtrack | performer: "I Say a Little Prayer for You" |
| The 71st Annual Tony Awards | 2017 | Soundtrack | performer: "Theme from New York, New York" |
| Step | 2017 | Soundtrack | performer: "Jump" |
| The 70th Annual Tony Awards | 2016 | Soundtrack | performer: "Mysterious Ways", "I'm Here" |
| Beyond the Lights | 2014 | Soundtrack | performer: "Fly Before You Fall" |
| 36th Annual GLAAD Media Awards TV Special | 2025 | Self | Self |
| Number One on the Call Sheet | 2025 | Self | Self |
| The Voice | 2025 | Self | Self - Advisor |
| Arte Journal | 2025 | Self | Self |
| Entertainment Tonight | 2020–2025 | Self | Self |
| The Oscars Red Carpet Show | 2025 | Self | Self - Interviewee |
| The Oscars | 2025 | Self | Self - Performer & Nominee |
| Countdown to Oscars with Robin Roberts TV Special | 2025 | Self | Self |
| The Drew Barrymore Show | 2024–2025 | Self | Self |
| The 31st Annual Screen Actors Guild Awards | 2025 | Self | Self - Presenter & Nominee |
| 56th NAACP Image Awards | 2025 | Self | Self - Nominee |
| Page Six: YouTube Channel TV Series | 2025 | Self | Self |
| 2025 EE BAFTA Film Awards | 2025 | Self | Self - Nominee |
| On with Kara Swisher | 2025 | Self | Self |
| CBS News Sunday Morning with Jane Pauley | 2025 | Self | Self |
| The 30th Annual Critics' Choice Awards | 2025 | Self | Self - Nominee |
| The 67th Annual Grammy Awards | 2025 | Self | Self - Performer |
| The Treatment Podcast Series | 2025 | Self | Self - Guest |
| Chicken Shop Date | 2025 | Self | Self |
| Jimmy Kimmel Live! | 2021–2025 | Self | Self - Guest |
| Dish Nation | 2021–2025 | Self | Self |
| Critics Choice 7th Annual Celebration of Black Cinema & Television TV Special | 2025 | Self | Self - Honoree |
| Variety Studio: Actors on Actors | 2020–2025 | Self | Self - Guest |
| 82nd Golden Globe Awards | 2025 | Self | Self - Nominee |
| W Magazine TV Series | 2025 | Self | Self |
| National Memorial Day Concert 2024 TV Movie | 2024 | Self | Self |
| Making Wicked | 2024 | Self | Self (uncredited) |
| Soundtracking with Edith Bowman | 2019–2024 | Self | Self - Guest |
| The View | 2016–2024 | Self | Self - Guest |
| SAG Foundation Conversations | 2024 | Self | Self |
| Today | 2018–2024 | Self | Self - Guest |
| Deadline Studio | 2024 | Self | Self - Guest |
| Konbini | 2024 | Self | Self |
| CBS Mornings | 2024 | Self | Self - Guest |
| Great Performances | 2024 | Self | Self |
| The Jennifer Hudson Show | 2024 | Self | Self - Guest |
| Tamron Hall | 2024 | Self | Self - Guest |
| Jornal Nacional | 2024 | Self | Self - Guest |
| LADbible Entertainment TV Series | 2024 | Self | Self |
| British Vogue TV Series | 2024 | Self | Self |
| Take A Look: Wicked! TV Special | 2024 | Self | Self |
| Access Hollywood | 2020–2024 | Self | Self |
| The Graham Norton Show | 2021–2024 | Self | Self - Guest |
| In the Envelope: The Actor's Podcast Podcast Series | 2024 | Self | Self - Guest |
| Letterboxd TV Series | 2024 | Self | Self |
| The Broadway Show with Tamsen Fadal | 2024 | Self | |
| IMDb Interviews | 2018–2024 | Self | Self - Guest |
| Celebrity Substitute | 2024 | Self | Self - Substitute |
| The Kelly Clarkson Show | 2021–2024 | Self | Self - Guest |
| Jeopardy! | 2021–2024 | Self | Self - Clue Giver |
| Defying Gravity: The Curtain Rises on Wicked | 2024 | Self | Self |
| Late Night with Seth Meyers | 2019–2024 | Self | Self - Guest |
| Las Culturistas Podcast Series | 2024 | Self | Self - Guest |
| The Tonight Show Starring Jimmy Fallon | 2021–2024 | Self | Self - Guest |
| Sunday Today with Willie Geist | 2021–2024 | Self | Self - Guest |
| Wicked Red Carpet TV Mini Series | 2024 | Self | Self |
| ABC News Breakfast | 2024 | Self | Self - Actor |
| The Project | 2024 | Self | Self - Guest |
| Rotten Tomatoes Coming Soon TV Series | 2024 | Self | Self |
| Simone Biles Rising | 2024 | Self | Self (uncredited) |
| 2024 Rock & Roll Hall of Fame Induction Ceremony | 2024 | Self | Self |
| Vanity Fair: YouTube Channel | 2024 | Self | Self |
| The US Open | 2024 | Self | Self - Spectator |
| Paris 2024: XXXIII Olympic Summer Games | 2024 | Self | Self - Spectator |
| The Late Show with Stephen Colbert | 2016–2024 | Self | Self - Guest |
| The 77th Annual Tony Awards | 2024 | Self | Self - Presenter |
| National Memorial Day Concert TV Series | 2018–2024 | Self | Self - Performer |
| Off Script with the Hollywood Reporter | 2024 | Self | Self - Guest |
| The Oscars | 2024 | Self | Self - Presenter |
| Next at the Kennedy Center | 2023 | Self | Self |
| The 46th Annual Kennedy Center Honors | 2023 | Self | Self - Performer |
| Sherri | 2023 | Self | Self |
| In Creative Company | 2022–2023 | Self | Self |
| 57th Annual CMA Awards | 2023 | Self | Self - Presenter |
| Running Wild with Bear Grylls | 2023 | Self | Self |
| Running Wild with Bear Grylls the Challenge | 2023 | Self | Self |
| Entertainment Tonight Canada | 2018–2023 | Self | Self |
| 2023 EE BAFTA Film Awards | 2023 | Self | Self - Presenter |
| BBC Proms TV Series | 2022 | Self | Self |
| A Capitol Fourth | 2020–2022 | Self | Self - Performer |
| The Amber Ruffin Show | 2022 | Self | Self - Guest |
| The 75th Annual Tony Awards | 2022 | Self | Self - Presenter |
| AFI Life Achievement Award | 2022 | Self | Self |
| The Ellen DeGeneres Show | 2022 | Self | Self - Guest |
| To Tell the Truth | 2022 | Self | Self |
| The 64th Annual Grammy Awards | 2022 | Self | Self - Performer |
| The Oscars | 2022 | Self | Self - Audience Member (uncredited) |
| One Perfect Shot | 2022 | Self | Self |
| The Late Late Show with James Corden | 2020–2022 | Self | Self |
| The 28th Annual Screen Actors Guild Awards | 2022 | Self | Self - Nominee |
| Omorpho: Gravity Video | 2022 | Self | Self |
| Glass Star: Cynthia Erivo Video | 2021 | Self | Self |
| Strictly Come Dancing | 2021 | Self | Self - Judge |
| Plot Twist | 2021 | Self | Self - Guest |
| Royal British Legion Festival of Remembrance TV Special | 2021 | Self | Self |
| Harper's Bazaar UK TV Series | 2021 | Self | Self |
| Storyline Online | 2021 | Self | Self |
| The Real | 2021 | Self | Self |
| Sunday Sitdown with Willie Geist | 2021 | Self | Self - Guest |
| The 73rd Primetime Emmy Awards | 2021 | Self | Self - Nominee |
| CBS Mornings | 2017–2021 | Self | Self |
| In América: A Lexicon of Fashion | 2021 | Self | Self |
| 78th Venice Film Festival Awards Ceremony TV Special | 2021 | Self | Self - Jury Member |
| Wicked in Concert | 2021 | Self | Self |
| We Love NYC: The Homecoming Concert TV Special | 2021 | Self | Self |
| Desus & Mero | 2021 | Self | Self |
| Live with Kelly and Mark | 2019–2021 | Self | Self - Guest |
| 2021 Billboard Music Awards | 2021 | Self | Self - Presenter |
| EE British Academy Film Awards | 2021 | Self | Self - Presenter |
| 27th Annual Screen Actors Guild Awards | 2021 | Self | Self - Presenter |
| RuPaul's Drag Race | 2021 | Self | Self - Guest Judge |
| 52nd NAACP Image Awards | 2021 | Self | Self - Presenter |
| Soul of a Nation | 2021 | Self | Self |
| Who Wants to Be a Millionaire | 2021 | Self | Self - Phone a Friend (voice) |
| A Grammy Salute to The Sounds of Change TV Special | 2021 | Self | Self |
| Good Morning America | 2015–2021 | Self | Self - Guest |
| The Daily Show | 2016–2021 | Self | Self - Guest |
| Extra | 2021 | Self | Self |
| 2021 Golden Globe Awards | 2021 | Self | Self - Presenter |
| Professional Troublemaker Podcast Series | 2021 | Self | Self |
| CNN Heroes | 2020 | Self | Self - Musical Guest |
| The 14th Annual CNN Heroes: An All-Star Tribute | 2020 | Self | Self - Performer |
| Arthur Miller Foundation Honors TV Special | 2020 | Self | Self |
| The 72nd Primetime Emmy Awards | 2020 | Self | Self - Presenter |
| No Filter with Naomi TV Series | 2020 | Self | Self - Guest |
| American Idol | 2020 | Self | Self |
| Saturday Night Seder | 2020 | Self | Self |
| AFI Movie Club | 2020 | Self | Self |
| The Rosie O'Donnell Show: A Benefit for the Actors Fund | 2020 | Self | Self |
| The Oscars | 2020 | Self | Self - Nominee & Performer |
| Celebrity Page | 2018–2020 | Self | Self |
| Hollywood Insider | 2019–2020 | Self | Self |
| The 62nd Annual Grammy Awards | 2020 | Self | Self - Presenter |
| The 26th Annual Screen Actors Guild Awards | 2020 | Self | Self - Nominee |
| The 25th Annual Critics' Choice Awards | 2020 | Self | Self - Nominee |
| E! Live from the Red Carpet | 2020 | Self | Self |
| 2020 Golden Globe Awards | 2020 | Self | Self - Nominee |
| Pop Culture Weekly with Kyle Mcmahon TV Series | 2019 | Self | Self |
| The 42nd Annual Kennedy Center Honors | 2019 | Self | Self - Performer |
| The Awardist Podcast Series | 2019 | Self | Self - Guest |
| Texting with theSkimm TV Series | 2019 | Self | Self |
| Ambo TV TV Series | 2019 | Self | Self |
| CTV News at 11:30 Toronto | 2018–2019 | Self | Self |
| CTV News at Six Toronto | 2019 | Self | Self - Guest |
| The 73rd Annual Tony Awards | 2019 | Self | Self - Performer |
| Live from Lincoln Center | 2019 | Self | Self |
| 50th NAACP Image Awards | 2019 | Self | Self - Presenter |
| Project Runway All Stars | 2019 | Self | Self - Guest Judge |
| EE British Academy Film Awards | 2019 | Self | Self - Nominee |
| Widows Unmasked: A Chicago Story | 2019 | Self | Self |
| Making 'Bad Times at the El Royale' | 2019 | Self | Self |
| The 12th Annual CNN Heroes: An All-Star Tribute TV Special | 2018 | Self | Self - Presenter |
| Made in Hollywood | 2018 | Self | Self |
| IMDb Originals | 2018 | Self | Self - Guest |
| Last Call with Carson Daly | 2018 | Self | Self - Guest |
| Black Girls Rock! | 2018 | Self | Self - Performer |
| Hall American: Forbidden | 2018 | Self | Self |
| Night of Too Many Stars | 2017 | Self | Self |
| The Rape of Recy Taylor | 2017 | Self | Rosa Parks |
| The 71st Annual Tony Awards | 2017 | Self | Self - Presenter & Performer |
| Stayin' Alive: A Grammy Salute to the Music of the Bee Gees | 2017 | Self | Self - Presenter |
| 28th Annual GLAAD Media Awards TV Special | 2017 | Self | Self |
| So Cosmo | 2017 | Self | Self |
| Essence 10th Anniversary Black Women in Hollywood Awards | 2017 | Self | Self |
| Give | 2017 | Self | Self |
| The 39th Annual Kennedy Center Honors | 2016 | Self | Self |
| Behind the Scenes Show: The Tony Awards TV Special | 2016 | Self | Self |
| Live from the Red Carpet: The 2016 Tony Awards TV Special | 2016 | Self | Self |
| The 70th Annual Tony Awards | 2016 | Self | Self - Winner |
| The Tony Beat TV Series | 2016 | Self | Self |
| Broadway.com 2016 Tony Awards Special TV Special | 2016 | Self | Self |
| Show People with Paul Wontorek | 2016 | Self | Self |
| Theater Talk | 2016 | Self | Self - Guest |
| Oprah Goes to Broadway: The Color Purple | 2015 | Self | Self |
| Cynikal feat Cynthia Erivo: Won't Let You Down Music Video | 2012 | Self | Self |
| The Henry Mancini 100th Sessions: Henry Has Company | | Self | Self - Performer |
| ABC News Breakfast | 2024–2025 | Archive Footage | Self - Actor |
| Entertainment Tonight | 2020–2025 | Archive Footage | Self (archive footage) |
| Amala Ekpunobi | 2025 | Archive Footage | Self (archive footage) |
| PoliticsNation with Al Sharpton | 2025 | Archive Footage | Self (archive footage) |
| Inside Edition | 2024–2025 | Archive Footage | Self (archive footage) |
| Dish Nation | 2025 | Archive Footage | Self (archive footage) |
| Worst of Woke Awards 2025 | 2025 | Archive Footage | Self |
| The Project | 2024–2025 | Archive Footage | Self (archive footage) |
| Too Many Tabs - der Podcast Podcast Series | 2024 | Archive Footage | Self (archive footage) |
| Weekend Breakfast | 2024 | Archive Footage | Self - Actor |
| The Cheap Seats | 2024 | Archive Footage | Self |
| Olympic FOMO with Mark and Jem TV Mini Series | 2024 | Archive Footage | Self (archive footage) |
| Moments Within Moments | 2021 | Archive Footage | Self (archive footage) |
| The Late Show with Stephen Colbert | 2021 | Archive Footage | Self (archive footage) |
| Celebrity Page | 2020 | Archive Footage | Self (archive footage) |