With Miles Davis
- 1959-62 Jingle Bell Jazz (Columbia, 1962) – on "Blue Xmas (To Whom It May Concern)"
- 1963 The Giants of Jazz (Columbia, 1963) – on "Devil May Care," the one Davis track on this Columbia anthology;[2] also released as single B-side of "Seven Steps to Heaven"[3]
- 1964: Miles in Berlin (Columbia, 1965)
- 1965: E.S.P. (Columbia, 1965)
- 1965: The Complete Live at the Plugged Nickel 1965 (Legacy, 1995)
- 1966: Miles Smiles (Columbia, 1967)
- 1967: Sorcerer (Columbia, 1967)
- 1967: Nefertiti (Columbia, 1968)
- 1966-67: Miles Davis at Newport 1955-1975: The Bootleg Series Vol. 4 (Legacy, 2015)
- 1967: Live in Europe 1967: The Bootleg Series Vol. 1 (Legacy, 2011)
- 1967-68: Water Babies (Columbia, 1976)
- 1968: Miles in the Sky (Columbia, 1968)
- 1968: Filles de Kilimanjaro (Columbia, 1969)
- 1969: In a Silent Way (Columbia, 1969)
- 1969: 1969 Miles Festiva De Juan Pins (CBS/Sony, 1993)
- 1969: Live in Europe 1969: The Bootleg Series Vol. 2 (Legacy, 2013)
- 1969: Bitches Brew (Columbia, 1970)
- 1970 Live at the Fillmore East (Columbia, 2001)
- compilation: Big Fun (Columbia, 1974)
- compilation: Circle in the Round (Columbia, 1979)
- compilation: Directions (Columbia, 1980)
With Herbie Hancock
- 1975: Man-Child (Columbia, 1975)
- 1976: VSOP (Columbia, 1977)
- 1977: VSOP: The Quintet (Columbia, 1975)
- 1977: VSOP: Tempest in the Colosseum (CBS/Sony, 1977)
- 1979: VSOP: Live Under the Sky (CBS/Sony, 1979)
- 1983: Sound-System (Columbia, 1984)
- 1985: Round Midnight – Original Motion Picture Soundtrack (Columbia, 1986)
- 1998: Gershwin's World (Verve, 1998)
- 2001: Future2Future (Transparent, 2001)
- 2006-07: River: The Joni Letters (Verve, 2007)
- 2010: The Imagine Project (Hancock, 2010)
With Freddie Hubbard
With Joni Mitchell
- 1977: Don Juan's Reckless Daughter (Asylum, 1977)
- 1978-79: Mingus (Asylum, 1979)
- 1982?: Wild Things Run Fast (Geffen, 1982)
- 1984-85: Dog Eat Dog (Geffen, 1985)
- 1986-87: Chalk Mark in a Rain Storm (Geffen, 1988)
- 1989-90: Night Ride Home (Geffen, 1991)
- 1993: Turbulent Indigo (Reprise, 1994)
- 1997: Taming the Tiger (Reprise, 1998)
- 1999: Both Sides Now (Reprise, 2000)
- 2002: Travelogue (Nonesuch, 2002)
With Lee Morgan
With Milton Nascimento
- Milton (A&M, 1976)
- A Barca Dos Amantes (Barclay, 1986)
- Yauaretê (Columbia, 1987) – 1 track
With Jaco Pastorius
With Carlos Santana
With McCoy Tyner
With Joe Zawinul
- Zawinul (Atlantic, 1971) – rec. 1970
- Mauthausen - Vom großen Sterben hören (ESC, 2000) – 1 track
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With others
- Donald Byrd, Free Form (Blue Note, 1966) – rec. 1961
- Billy Childs, Map to the Treasure (Sony Masterworks, 2014)
- Pino Daniele, Bella 'mbriana (EMI Italiana, 1982)
- Lou Donaldson, Lush Life (Blue Note, 1967)
- Benny Golson, Pop + Jazz = Swing (Audio Fidelity, 1962)
- Gil Evans, The Individualism of Gil Evans (Verve, 1964) – rec. 1963-64
- Don Henley, The End of the Innocence (Geffen, 1989) – rec. 1987-89
- Toninho Horta, Diamond Land (Verve Forecast, 1988)
- Norah Jones, Day Breaks (Blue Note, 2016) – rec. 2015
- J.J. Johnson, Heroes (Verve, 1998) – rec. 1996
- Wynton Kelly, Kelly Great (Vee Jay, 1959)
- Michael Landau, Tales From The Bulge (Shobi Corporation, 1990)
- Bill Laswell, Bahia Black Ritual Beating System (Axiom, 1992)[4]
- Lionel Loueke, Karibu (Blue Note, 2008) – rec. 2007
- Grachan Moncur III, Some Other Stuff (Blue Note, 1965) – rec. 1964
- Michel Petrucciani, The Power of Three (Blue Note, 1987) – rec. 1986
- The Rolling Stones, Bridges to Babylon (Virgin, 1997) – 1 track
- Masahiko Satoh, Randooga (Epic, 1990) – live
- John Scofield, Quiet (Verve, 1996)
- Esperanza Spalding, Songwrights Apothecary Lab (Concord, 2021)
- Steely Dan, Aja (ABC, 1977) – 1 track
- Bobby Timmons, The Soul Man! (Prestige, 1966)
- Kazumi Watanabe, Kilowatt (Gramavision, 1989)
- Buster Williams, Something More (In+Out, 1989)
- Tony Williams, Spring (Blue Note, 1966) – rec. 1965
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