As leader
- 1961: Speak Low also released as Milestones (Black Lion Records)
- 1964: Bish Bash (Xanadu Records)
- 1965: The Walter Bishop Jr. Trio (Prestige Records) also released as Summertime (Cotillion Records)
- 1972: Coral Keys (Black Jazz Records)
- 1973: Keeper Of My Soul (Black Jazz)
- 1974: Valley Land (Muse Records)
- 1976: Old Folks (East Wind Records)
- 1977: Soul Village (Muse)
- 1978: Cubicle (Muse)
- 1978: The Trio (with Billy Hart, George Mraz)
- 1979: Hot House (Muse)
- 1988: Just in Time (Pony Canyon
- 1989: Ode to Bird
- 1991: Midnight Blue (Red)
- 1994: What’s New (DIW Records)
- 1993: Speak Low Again (with Paul Brown, Al Harewood)
As sideman
With Milt Jackson
- Meet Milt Jackson (Savoy, 1949)
With Blue Mitchell
- Blue Mitchell (Mainstream, 1971)
- Vital Blue (Mainstream, 1971)