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.

Cover	Date	Title	Label
	1984	The Muppets Go Camping	Muppet Music
	1984	Gonzo and the Giant Chicken	Muppet Music
	1984	The Case of the Missing Mother	Muppet Music
	1984	The Muppets Take Manhattan (book and audio)	Muppet Music
	1984	Muppet Manners	Muppet Music Golden
	1984	Two for the Show	Muppet Music Golden
	1984	The Case of the Missing Hat	Muppet Music
	1993	The Muppet Christmas Carol Story Album	Jim Henson Records
	2012	The Muppets Read-Along Storybook and CD	Disney Press