While book and audio sets featuring the Sesame Street characters began to be released early in the show's history, the Muppet Show characters only released a few book and audio sets, beginning in 1984. While not as prolific as those from Sesame Street, these sets were reissued into the 1990s on record and cassette. Some new titles also appeared in the 1990s.
Finally, after many years of inactivity, a new book and CD set was released in 2012, based on the new film The Muppets.
| ||The Muppets Go Camping||Muppet Music|
| ||Gonzo and the Giant Chicken||Muppet Music|
| ||The Case of the Missing Mother||Muppet Music|
| ||The Muppets Take Manhattan (book and audio)||Muppet Music|
| ||Muppet Manners|| Muppet Music|
| ||Two for the Show|| Muppet Music|
| ||The Case of the Missing Hat||Muppet Music|
| ||The Muppet Christmas Carol Story Album||Jim Henson Records|
| ||The Muppets Read-Along Storybook and CD||Disney Press|