| 2024 | The Untold Story of Mary Poppins: A Special Edition of 20/20 | Self | ★ 5.7 |
| 2024 | Satisfied | Self | ★ 0.0 |
| 2023 | Dick Van Dyke: 98 Years of Magic | Self | ★ 7.5 |
| 2023 | Disney 100: A Century of Dreams – A Special Edition of 20/20 | Self | ★ 6.7 |
| 2023 | In The Room: Leigh Sales with Lin-Manuel Miranda | Self - Guest | ★ 0.0 |
| 2022 | Encanto live | Self - Host | ★ 7.0 |
| 2022 | Broadway Rising | Self | ★ 7.2 |
| 2022 | Weird - Die Al Yankovic Story | Doctor | ★ 6.7 |
| 2022 | Platinum Party at the Palace | Self | ★ 6.0 |
| 2022 | Keeping Company with Sondheim | Self | ★ 9.0 |
| 2022 | Honoring a Broadway Legacy: Behind the Scenes of tick, tick...Boom! | Self | ★ 7.8 |
| 2022 | Reopening: The Broadway Revival | Self | ★ 0.0 |
| 2022 | Betty White: A Celebration | Self | ★ 8.0 |
| 2021 | 2021 Rock & Roll Hall of Fame Induction Ceremony | Self | ★ 7.0 |
| 2021 | tick, tick... BOOM! | Diner Manager (uncredited) | ★ 7.6 |
| 2021 | Vivo - Voller Leben | Vivo (voice) | ★ 7.3 |
| 2021 | Summer of Soul (...Or, When the Revolution Could Not Be Televised) | Self | ★ 7.6 |
| 2021 | Rita Moreno: Just a Girl Who Decided to Go for It | Self | ★ 7.4 |
| 2021 | In the Heights | Piragüero | ★ 7.1 |
| 2021 | Roll Up Your Sleeves | Self | ★ 7.5 |
| 2021 | Celebrating America | Self | ★ 6.5 |
| 2020 | The Candlenights 2020 Special | Self | ★ 0.0 |
| 2020 | A West Wing Special to Benefit When We All Vote | Self | ★ 8.0 |
| 2020 | An Evening with Alan Menken | Himself | ★ 0.0 |
| 2020 | Hamilton Sing-Along | | ★ 0.0 |
| 2020 | Hamilton: History Has Its Eyes On You | | ★ 7.0 |
| 2020 | Hamilton | Alexander Hamilton | ★ 8.2 |
| 2020 | The Undefeated Presents: Hamilton In-Depth | Self | ★ 7.0 |
| 2020 | Global Goal: Unite for Our Future | The Concert | Self | ★ 0.0 |
| 2020 | Sesame Street: Elmo's Playdate | Self | ★ 5.0 |
| 2020 | Das Vermächtnis der Skywalker | Self | ★ 7.7 |
| 2020 | El accidente feliz | Himself | ★ 0.0 |
| 2020 | We Are Freestyle Love Supreme | Self | ★ 7.4 |
| 2020 | Siempre, Luis | Self | ★ 6.3 |
| 2020 | Mucho Mucho Amor: The Legend of Walter Mercado | Self | ★ 7.3 |
| 2019 | Star Wars: Der Aufstieg Skywalkers | Soldier (uncredited) | ★ 6.3 |
| 2019 | On Broadway | Self (archive footage) | ★ 8.7 |
| 2019 | Fiddler: A Miracle of Miracles | Himself | ★ 6.5 |
| 2019 | My Favorite Shapes by Julio Torres | Cactus (voice) | ★ 7.0 |
| 2019 | Salman Rushdie — Den Tod im Nacken | Lin-Manuel Miranda (archive footage) | ★ 6.6 |
| 2018 | Mary Poppins‘ Rückkehr | Jack | ★ 6.5 |
| 2018 | The Wonderful World of Disney: Magical Holiday Celebration | Self | ★ 0.0 |
| 2018 | Mary Poppins Returns: Behind the Magic | Self | ★ 6.2 |
| 2018 | Rock Rubber 45s | Self | ★ 0.0 |
| 2018 | Andrew Lloyd Webber: Tribute to a Superstar | Self | ★ 6.0 |
| 2017 | Broadway: The Next Generation | Self | ★ 10.0 |
| 2017 | Hamilton: One Shot to Broadway | | ★ 6.7 |
| 2017 | Speech & Debate | The Genie | ★ 6.0 |
| 2017 | Residente | Himself | ★ 6.8 |
| 2016 | Millennials: The Musical | Himself | ★ 6.8 |
| 2016 | Vaiana | Additional Voices (voice) | ★ 7.6 |
| 2016 | Hamilton's America | Self | ★ 6.8 |
| 2015 | Crossing the Line to Broadway | himself (Music and Lyrics) | ★ 7.0 |
| 2014 | This American Life: Live at BAM | Narrator | ★ 8.1 |
| 2014 | 21 Chump Street | Narrator | ★ 8.3 |
| 2013 | 200 Cartas | Raul | ★ 6.2 |
| 2012 | The Polar Bears | Jak (voice) | ★ 6.3 |
| 2012 | Das wundersame Leben von Timothy Green | Reggie | ★ 7.0 |
| 2011 | A Place for Us: West Side Story's Legacy | Self | ★ 0.0 |
| 2009 | Celebrity Habla | Self | ★ 0.0 |
| 2009 | In the Heights: Chasing Broadway Dreams | Self | ★ 10.0 |
| 2008 | Britney: For the Record | Self | ★ 7.6 |
| The Making Of | | ★ 0.0 |
