Several inchworms have appeared on The Muppet Show.

The first, which had yellow and green stripes, was featured alongside Charles Aznavour as he sang "The Inch Worm" on episode 109. Two orange and yellow-striped inchworms later appeared alongside Lenny the Lizard in the "Inchworm" sketch on episode 204. These inchworms are similar in appearance to the worms, like Slimey, that have appeared on Sesame Street since 1971.

A slightly different inchworm, without stripes, accompanied Danny Kaye when he sang "The Inch Worm" on episode 316.