As leader
- Movin’ & Groovin’ (Blue Note, 1960)
- Us Three (Blue Note, 1960)
- Speakin’ My Piece (Blue Note, 1960)
- Headin’ South (Blue Note, 1960)
- On the Spur of the Moment (Blue Note, 1961)
- Up & Down (Blue Note, 1961)
- Happy Frame of Mind (Blue Note, 1963)
- Arrival (Steeplechase, 1974)
- No Blues (Steeplechase, 1975)
- Frank-ly Speaking (Steeplechase, 1977)
- Goin’ Home (Steeplechase, 1977)
- Trouble in Mind (Steeplechase, 1977)
- Blue Parlan (Steeplechase, 1978)
- Hi-Fly (Steeplechase, 1978)
- Musically Yours (Steeplechase, 1979)
- The Maestro (Steeplechase, 1979)
- Pannonica (Enja, 1981)
- Like Someone in Love (Steeplechase, 1983)
- Glad I Found You (Steeplechase, 1984)
- Little Esther (Soul Note, 1987)
- Alone (Steeplechase)
As sideman
With Lou Donaldson
- The Time is Right (1959)
- Sunny Side Up (1960)
- Midnight Sun (1960)
With Pierre Dorge
- The Jazzpar Prize (1992)
With Booker Ervin
- That’s It! (1961)
- Exultation! (1963)
With Dexter Gordon
- Doin’ Allright (1961)
With Roland Kirk
- Gifts & Messages (1964)
- Slightly Latin (1965)
With Charles Mingus
- Blues & Roots (1959)
- Mingus Ah Um (1959)
With Archie Shepp
- Black Ballads (1992)
With Zoot Sims
- Motoring Along (1975)
With Stanley Turrentine
- Look Out! (1960)
- Comin’ Your Way (1961)
- Up at “Minton’s” (1961)
- Jubilee Shout!!! (1962)
- Salt Song (1971)
With Tommy Turrentine
- Tommy Turrentine