Joe Benjamin

As sideman

With Tony Bennett

• I've Gotta Be Me (Columbia, 1969)

With Teresa Brewer

• It Don't Mean A Thing If It Ain't Got That Swing (Flying Dutchman, 1973)

With Bob Brookmeyer

• Traditionalism Revisited (World Pacific, 1957)

With Oscar Brown

• Sin & Soul (Columbia, 1960)

With Kenny Burrell

• Weaver of Dreams (Columbia, 1961)
• Guitar Forms (Verve, 1965)

With Dave Brubeck

• Newport 1958 (Columbia, 1958)
• Jazz Impressions of Eurasia (Columbia, 1958)

With Ray Charles

• Genius + Soul = Jazz (Impulse!, 1961)

With Harry Edison

• The Swinger (Verve, 1958)
• Harry Edison Swings Buck Clayton (Verve, 1958) with Buck Clayton
• Mr. Swing (Verve, 1960)

With Duke Ellington

• All Star Road Band (Doctor Jazz, 1983)

With Dizzy Gillespie

• The Great Blue Star Sessions 1952-1953 (EmArcy, 2004)

With Barry Harris

• Preminado (Riverside, 1961)

With Roy Haynes

• Jazz Abroad (Emarcy, 1955)

With Johnny Hodges

• Triple Play (RCA Victor, 1967)

With Budd Johnson

• Blues a la Mode (Felsted, 1958)
• Budd Johnson and the Four Brass Giants (Riverside, 1960)

With Roland Kirk

• Kirk's Work (Prestige, 1961)

With Gary McFarland

• The Jazz Version of "How to Succeed in Business without Really Trying" (Verve, 1962)

With Carmen McRae

• Book of Ballads (Kapp, 1958)

With Gerry Mulligan

• The Teddy Wilson Trio & Gerry Mulligan Quartet with Bob Brookmeyer at Newport (Verve, 1957)
• Blues in Time (Verve, 1957) with Paul Desmond
• Two of a Mind (RCA Victor, 1962) with Paul Desmond

With Jerome Richardson

• Midnight Oil (New Jazz, 1959)

With Al Sears

• Things Ain't What They Used to Be (Swingville, 1961) as part of the Prestige Swing Festival

With Joya Sherrill

• Joya Sherrill Sings Duke (20th Century Fox, 1965)

With Rex Stewart

• Rendezvous with Rex (Felsted, 1958)

With Sonny Stitt

• Sonny Stitt & the Top Brass (Atlantic, 1962)

With Buddy Tate

• Swinging Like Tate (Felsted, 1958)

With Clark Terry

• Color Changes (Candid, 1960)
• Everything's Mellow (Moodsville, 1961)

With The Three Playmates

• The Three Playmates - The Three Playmates with George Barrow, Jerome Richardson, Budd Johnson, Sam Price, Kenny Burrell, Joe Benjamin, Bobby Donaldson, Ernie Wilkins (arranger) (Savoy Records, 1957)

With Sarah Vaughan

• Sarah Vaughan with Clifford Brown (EmArcy, 1954)
• In the Land of Hi-Fi (EmArcy, 1955)
• Swingin' Easy (EmArcy, 1957)

With Mal Waldron

• The Quest (New Jazz, 1961)

With Kai Winding

• Dance to the City Beat (Columbia, 1959)