As Sideman
With Ahmed Abdul-Malik
- Sounds of Africa (New Jazz, 1961)
With Jaki Byard
- Out Front! (Prestige, 1964)
With Eddie "Lockjaw" Davis
- Trane Whistle (Prestige, 1960)
With Booker Ervin
- Cookin' (Savoy, 1960)
- The In Between (Blue Note, 1968)
With Bill Evans and George Russell
- Living Time (Columbia, 1972)
With Gigi Gryce
- Saying Somethin'! (New Jazz, 1960)
- The Hap'nin's (New Jazz, 1960)
- The Rat Race Blues (New Jazz, 1960)
- Reminiscin' (Mercury, 1960)
With Rahsaan Roland Kirk
- The Roland Kirk Quartet Meets the Benny Golson Orchestra (Mercury, 1964)
- Left & Right (Atlantic, 1968)
With Yusef Lateef
- The Centaur and the Phoenix (Riverside, 1960)
- Jazz 'Round the World (Impulse!, 1963)
With Jack McDuff
- The Fourth Dimension (Cadet, 1974)
With Charles Mingus
- The Complete Town Hall Concert (Blue Note, 1962 )
- The Black Saint and the Sinner Lady (Impulse!, 1963)
- Mingus Mingus Mingus Mingus Mingus (Impulse!, 1963)
With Mingus Dynasty
- Reincarnation (Soul Note, SN1042, 1982)
With Oliver Nelson
- Screamin' the Blues (New Jazz, NJ 8243, 1960)
With The Thad Jones / Mel Lewis Orchestra
- Presenting Thad Jones / Mel Lewis and the Jazz Orchestra (Solid State, 1966)
- Presenting Joe Williams and Thad Jones / Mel Lewis, The Jazz Orchestra (Solid State, 1966)
- Live at the Village Vanguard (Solid State, 1967)
- The Big Band Sound of Thad Jones / Mel Lewis Featuring Miss Ruth Brown (Solid State, 1968)
- Monday Night (Solid State, 1968)
- Central Park North (Solid State, 1969)
With Randy Weston
- Uhuru Afrika (Roulette, 1960)
Read more about this topic: Richard Williams (musician), Discography