As leader
- This Here is Bobby Timmons (Riverside, 1960)
- Soul Time (Riverside, 1960)
- Easy Does It (Riverside, 1961)
- In Person (Riverside, 1961)
- Sweet and Soulful Sounds (Riverside, 1962)
- Born to Be Blue! (Riverside, 1963)
- From the Bottom (Riverside, 1964)
- Little Barefoot Soul (Prestige, 1964)
- Chun-King (Prestige, 1965)
- Workin’ Out! (Prestige, 1965)
- Holiday Soul (Prestige, 1964)
- Chicken & Dumplin’s (Prestige, 1965)
- The Soul Man! (Prestige, 1966)
- Soul Food (Prestige, 1966)
- Got to Get It! (Milestone, 1967)
- Do You Know the Way? (Milestone, 1968)
Compilations
- Moanin’ (1975)**
- Moanin’ Blues (1998)**
- Quartets and Orchestra (2001)** – compiles Got to Get It! and Do You Know the Way?
- Prestige Trio Sessions (2003)** – compiles Little Barefoot Soul and Chun-King
As sideman
With Pepper Adams
- 10 to 4 at the 5 Spot (Riverside, 1958)
With Cannonball Adderley
- The Cannonball Adderley Quintet in San Francisco (Riverside, 1959)
- Them Dirty Blues (Riverside, 1960)
With Nat Adderley
- Work Song (Riverside, 1960)
With Chet Baker
- Chet Baker Big Band (1954)
- Chet Baker and Crew (1956)
with Art Blakey
- Moanin’ (Blue Note, 1958)
- Drums Around the Corner (1958)
- 1958 – Paris Olympia (1958)
- At the Jazz Corner of the World (Blue Note, 1959)
- Les Liaisons Dangereuses (1959)
- The Big Beat (Blue Note, 1960)
- Like Someone in Love (Blue Note, 1960)
- A Night In Tunisia (Blue Note, 1960)
- Meet You at the Jazz Corner of the World (Blue Note, 1960)
- The Witch Doctor (Blue Note, 1961)
- The Freedom Rider (1961)
With Kenny Burrell
- Blue Lights (Blue Note, 1958)
With Kenny Dorham
- ‘Round About Midnight at the Cafe Bohemia (Blue Note, 1956)
With Art Farmer
- Brass Shout (United Artists, 1959)
With Curtis Fuller
- The Opener (Blue Note, 1957)
With Sam Jones
- The Soul Society (Riverside, 1960)
With Hank Mobley
- Hank (Blue Note, 1957)
With Lee Morgan
- The Cooker (Blue Note, 1957)
- Lee-Way (Blue Note, 1960)
With The Young Lions
- The Young Lions (1960) Vee-Jay Records