Kamilah Martin was voice of Blue Palette, one of The Palettes in Sesame Street Live stage show Elmo's Coloring Book.

For the 2002 opening night cast of Hairspray on Broadway, she played a "Denizen of Baltimore" and one of The Dynamites; she was the understudy for Motormouth Maybelle, a role played by Queen Latifah in a later film version. She also served as an understudy for Jonathan Larson's RENT.

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