| 2026 | The Magic Faraway Tree | Know All |
| 2025 | Jay Kelly | Larry |
| Chuột Nhí Siêu Tốc Độ | Erwin (voice) |
| 2024 | Wallace và Gromit: Lông vũ báo thù | Mr. Convenience (voice) |
| Art Matters | Self |
| Comic Relief 2024: Funny for Money | Self |
| 2023 | An Audience with Kylie | Self |
| 2022 | The Lord of the Rings: The Rings of Power Global Fan Screening | Sadoc Burrows |
| Birmingham 2022 Commonwealth Games Opening Ceremony | Self |
| My Name Is Leon | Mr. Johnson |
| 2021 | Beauty and the Beast: A Comic Relief Pantomime for Christmas | Self |
| Parkinson at 50 | Self (archive footage) |
| Zog and the Flying Doctors | Narrator (voice) |
| 2020 | Billy Connolly: It’s Been a Pleasure... | Self |
| Black Classical Music: The Forgotten History | Self - Presenter |
| The Big Night In | Self - Presenter |
| 2019 | Happy Birthday OU: 50 Years of the Open University | Self - Presenter |
| 2018 | Zog | Himself - Narrator (voice) |
| 2017 | Comic Relief: Red Nose Day | Self - Presenter |
| 2016 | Neil Gaiman: Dream Dangerously | Self |
| Let's Do It: A Tribute to Victoria Wood | Self |
| Our Queen at Ninety | Self |
| 2015 | Danny & the Human Zoo | Samson |
| 2014 | Rik Mayall: Lord of Misrule | Self |
| 2012 | The Diamond Jubilee Concert 2012 | Self - Presenter |
| Cướp Biển Đáng Yêu | Peg Leg Hastings (voice) |
| National Theatre Live: The Comedy of Errors | Antipholus of Syracuse |
| 2011 | Red Nose Day: 25 Monster Years | Self |
| The Secret Life of Bob Monkhouse | — |
| 2009 | Now That’s What I Call Comedy | Himself |
| 2008 | Gaybo Laughs Back | Self |
| The Mighty Boosh: A Journey Through Time and Space | Himself |
| 2007 | Penelope | Krull |
| 2006 | It Started with Swap Shop | Self |
| 2005 | Lenny Henry Live - So Much Things To Say | — |
| The Comic Strip - A Retrospective | Self |
| The Funny Blokes of British Comedy | Self |
| MirrorMask | Cops 1-4 |
| 2004 | Remember the Secret Policeman's Ball? | Self |
| Harry Potter và Tù Nhân Azkaban | Shrunken Head (voice) |
| 2003 | Lying To Michael Jackson | Michael Jackson |
| 2002 | The Best of French & Saunders | Various |
| 1999 | Rude For A Reason: Live from Brixton Academy | Himself |
| The Man | Dennis Jackson |
| 1997 | The Story of Bean | Self |
| 1996 | Famous Fred | Fred (voice) |
| 1994 | Lenny Henry: Live and Loud! Tour 1994 | — |
| White Goods | Charlie Collins |
| 1992 | In Dreams | Lenny/Michael Jackson/Prince |
| Black and White in Colour | Self |
| 1991 | Bernard and the Genie | Josephus the Genie |
| Alive and Kicking | Stevie 'Smudger' Smith |
| True Identity | Miles Pope |
| Lenny Go Home | Self |
| 1990 | Oxford | Steve Wild |
| South Atlantic Raiders: Part 1 | Warder |
| 1989 | Work Experience | Terence |
| Lenny Live and Unleashed | Himself & various characters |
| The Secret Policeman’s Biggest Ball | Self |
| Just Like That! | Self |
| 1988 | Nelson Mandela 70th Birthday Tribute | Self |
| The Suicide Club | Cam |
| Spitting Image: The Ronnie & Nancy Show | Various Roles |
| 1987 | Coast to Coast | Ritchie Lee |
| The Secret Policeman’s Third Ball | Self |
| 1986 | The Comic Relief Utterly Utterly Rude Video Live | Self |
| 1982 | The Funny Side of Christmas | Various Characters |