- 1948-52: Wizard of the Vibes (Blue Note)
- 1949-56: Roll ‘Em Bags (Savoy)
- 1949-56: Meet Milt Jackson (Savoy)
- 1955: Milt Jackson Quartet (Prestige)
- 1956: Opus de Jazz (Savoy)
- 1957: Ballads & Blues (Atlantic)
- 1956: The Jazz Skyline (Savoy)
- 1956: Jackson’s-ville (Savoy)
- 1957: Plenty, Plenty Soul (Atlantic)
- 1957: Bags & Flutes (Atlantic)
- 1958: Soul Brothers – with Ray Charles (Atlantic)
- 1959: Bean Bags – with Coleman Hawkins (Atlantic)
- 1959: Bags’ Opus (United Artists)
- 1960: Bags & Trane – with John Coltrane (Atlantic)
- 1960: The Ballad Artistry of Milt Jackson (Atlantic)
- 1961: Soul Meeting – with Ray Charles (Atlantic)
- 1961: Vibrations (Atlantic)
- 1961: Very Tall – with Oscar Peterson Trio (Verve)
- 1961: Statements (Impulse!)
- 1961: Bags Meets Wes! – with Wes Montgomery (Riverside)
- 1962: Big Bags (Riverside)
- 1962: Invitation (Riverside)
- 1962: For Someone I Love (Riverside)
- 1963: Milt Jackson Quintet Live at the Village Gate (Riverside)
- 1964: Much in Common with Ray Brown (Verve)
- 1964: Jazz ‘n’ Samba (Impulse!)
- 1964: In a New Setting (Limelight)
- 1965: Ray Brown / Milt Jackson with Ray Brown (Verve)
- 1965: Milt Jackson at the Museum of Modern Art (Limelight)
- 1966: Born Free (Limelight)
- 1968: Milt Jackson and the Hip String Quartet (Verve)
- 1969: That’s the Way It Is featuring Ray Brown (Impulse!)
- 1969: Just the Way It Had to Be featuring Ray Brown (Impulse!)
- 1969: Memphis Jackson with the Ray Brown Big Band (Impulse!)
- 1972: Sunflower (CTI)
- 1972: Cherry (with Milt Jackson) (CTI)
- 1973: Goodbye with Hubert Laws (CTI)
- 1974: Olinga (CTI)
- 1975: The Milt Jackson Big 4 (Pablo)
- 1975: The Big 3 with Joe Pass and Ray Brown (Pablo)
- 1976: Milt Jackson at the Kosei Nenkin (Pablo)
- 1976: Feelings (Pablo)
- 1977: Quadrant – with Joe Pass, Ray Brown, and Mickey Roker
- 1977: Soul Fusion (Pablo)
- 1979: Milt Jackson (Quintessence Jazz Series) (Pickwick)
- 1979: Loose Walk (Palcoscenico Records)
- 1980: Night Mist (Pablo/OJC)
- 1981: Ain’t But a Few of Us Left – with Oscar Peterson
- 1982: A London Bridge [live] (Pablo)
- 1982: Mostly Duke [live] (Pablo/OJC)
- 1982: Memories of Thelonious Sphere Monk (Pablo/OJC)
- 1983: Jackson, Johnson, Brown & Company – with J. J. Johnson
- 1983: Two of the Few with Oscar Peterson
- 1983: Soul Route (Pablo)
- 1993: Reverence and Compassion (Warner Bros.)
- 1994: The Prophet Speaks (Qwest)
- 1995: Burnin’ in the Woodhouse
- 1998: The Very Tall Band with Oscar Peterson and Ray Brown (live from Blue Note)
With the Modern Jazz Quartet
Further information: Modern Jazz Quartet
As sideman
With Cannonball Adderley
- Things Are Getting Better (Riverside, 1958)
With Miles Davis
- Bags’ Groove (Prestige, 1954)
- Quintet / Sextet (Prestige, 1955)
With Dizzy Gillespie
- Dee Gee Days: The Savoy Sessions (Savoy, 1951-52 [1976])
- The Dizzy Gillespie Big 7 (Pablo, 1975)
- Dizzy Gillespie Jam (Pablo, 1977)
- Musician, Composer, Raconteur (Pablo, 1981)
With Hank Mobley
- Hank Mobley and His All Stars (Blue Note, 1957)
With Oscar Peterson
- Reunion Blues (MPS, 1971)
- The Oscar Peterson Big 6 At The Montreux Jazz Festival 1975 (Pablo, 1975)
With Don Sebesky
- Giant Box (CTI, 1973)
With Stanley Turrentine
- Cherry (CTI, 1972)