Billy Kilson

• While Ur Sleepin' (Truspace, 2001) - as BK Groove Featuring Billy Kilson
• Pots & Pans (Arintha Star, 2006) - as Billy Kilson's B.K. Groove
• Descension Rising (2016) - as Billy Kilson Trio

With Greg Osby

• Man-Talk for Moderns Vol. X (Blue Note, 1991)

With Dianne Reeves

• I Remember (Blue Note, 1991) - on tracks (1-4)
• Art & Survival (EMI, 1994) - on tracks (8 & 10)
• Quiet After the Storm (Blue Note, 1994) - on tracks (1-2, 5-6, 8-10 & 12)

With Bob Belden

• Princejazz (Somethin' Else, 1994)
• Purple Rain (Somethin' Else, 1994)
• When Doves Cry (Metro Blue, 1994)
• Tapestry (Jazz Heritage, 1998)
• Black Dahlia (Blue Note, 2001)

With Tim Hagans

• Audible Architecture (Blue Note, 1995)
• Animation Imagination (Blue Note, 1999)
• Re-Animation Live! (Blue Note, 1999)

With Jack Lee

• Into the Night (Truspace, 1996) - with Bob James, Hilary James, Mark Ledford and Toninho Horta
• From Belo to Seoul (Truspace, 1997) - with Toninho Horta

With Bob James

• Joined at the Hip (Warner Bros., 1996)
• Joy Ride (Warner Bros., 1999) - on "Joy Ride" and "Trade Winds"
• Take It from the Top (Koch, 2004)
• Urban Flamingo (Koch, 2006) - on "Niles A Head"
• Espresso (Evosound, 2018)
• Feel Like Making LIVE! (Evosound, 2022)

With Dave Holland

• Points of View (ECM, 1998)
• Prime Directive (ECM, 1999)
• Not for Nothin' ECM, 2001)
• What Goes Around (ECM, 2002)
• Extended Play: Live at Birdland (ECM, 2003)
• Overtime (Dare2, 2004)

With Carla Cook

• It's All About Love (MAXJAZZ, 1999)
• Dem Bones (MAXJAZZ, 2001)
• Simply Natural (MAXJAZZ, 2002)

With Bill Mobley

• Mean What You Say (Space Time, 1999) - on tracks (1-3, 6 & 8)
• Black Elk's Dream (Space Time, 2013) - a live album with Orchestre d'Auvergne

With Larry Carlton

• Deep Into It (Warner Bros., 2001)
• Sapphire Blue (Bluebird, 2003)
• Take Your Pick (335, 2010) - with Tak Matsumoto *Grammy Winner

With Donald Brown

• At This Point in My Life (Space Time, 2001) - with The Bush Messengers
• Autumn in New York (Space Time, 2002) - as Donald Brown Trio
• French Kiss (Space Time, 2002)

With Robin Eubanks

• Get 2 It (2001) - on tracks (2, 6 & 7) - with Mental Images
• Klassik Rock Vol. 1 (ArtistShare, 2014) - on tracks (6, 7 & 9) - with Mental Images

With Charene Dawn

• Dark Angel (Sirocco Jazz Limited, 2002)

With Michael Franks

• Watching the Snow (Koch, 2003)
• Time Together (Shanachie, 2011)
• The Music in My Head (P-Vine, 2018)

With Chris Botti

• When I Fall in Love (Columbia, 2004)
• To Love Again (Columbia, 2005)
• In Boston (Decca, 2009)

With Will Boulware

• Take Five (Eighty-Eight's, 2005)
• Summertime (Eighty-Eight's, 2007)

With others

• Milton Marsh, Continuum (Alicia-Miltrix, 1985) - on "I Wonder Why I Care" and "Smiles"
• Walter Beasley, Walter Beasley (Polydor, 1987) - on "Call Me"
• Terence Blanchard, Simply Stated (Columbia, 1992) - on "Detour Ahead"
• Billy Childs, Portrait of a Player (Windham Hill, 1993)
• Maria Muldaur, Jazzabelle (Stony Plain, 1993)
• Johnny Adams, The Verdict (Rounder, 1995)
• Takeshi "T.K." Ito, T.K. Covers (Atlantic, 1995) - as Billy Kielson
• Little Buster and the Soul Brothers, Right on Time! (Bullseye Blues, 1995) - on tracks (1-8, 10)
• Terumasa Hino-Masabumi Kikuchi Quintet, Acoustic Boogie (Somethin' Else, 1995)
• Terumasa Hino-Masabumi Kikuchi Quintet, Moment (Somethin' Else, 1996)
• Bill Evans, Escape (Escapade Music, 1996)
• Bop City, Hip Strut (Hip Bop, 1996)
• Andy McKee, Sound Roots (Mapleshade, 1997)
• Kevin Mahogany, My Romance (Warner Bros., 1998)
• Terumasa Hino, Re-Cover (Sweet Basil, 1999) - on tracks (3, 6, 7, 8 & 10)
• Tom Browne, R'N'Browne (Hip Bop, 1999)
• Onaje Allan Gumbs, Remember Their Innocence (1999)
• Nicolas Simion Trio, Nick at Night (PAO, 2000)
• Gil Goldstein, Disney Adventures in Jazz (AKA Disney Meets Jazz: Tribute to Walt Disney) (Walt Disney, 2001)
• Mike Gibbs, Nonsequence (Provocateur, 2001) - on tracks (3, 5-9)
• Joe Locke, State of Soul (Sirocco, 2002)
• Philip Bailey, Soul On Jazz (Heads Up, 2002)
• Eliane Elias, Dave Grusin, Herbie Hancock, Bob James, Brad Mehldau, Portrait of Bill Evans (JVC, 2002) - on tracks (1 & 4)
• John Stoddart, Wings to Walk This Road (Reprise, 2003)
• Steve Wilson, Soulful Song (MAXJAZZ, 2003)
• Josh Roseman, Treats for the Nightwalker (Enja, 2003)
• Lonnie Plaxico, Rhythm & Soul (Sirocco, 2003)
• Charles Blenzig, It's About Time (Double-Time, 2003)
• Continuum, Act One (Space Time, 2004)
• Antonio Hart, All We Need (Downtown Sound, 2004)
• Spyro Gyra, The Deep End (Heads Up, 2004) - on tracks (1, 4 & 10)
• Milligan-Eagles Project, Milligan-Eagles Project Featuring Billy Kilson (TetraArtist, 2005)
• The New Sound Quartet, Summertime (Eighty-Eight's, 2005)
• Taylor Eigsti, Lucky to Be Me (Concord Jazz, 2006)
• Austin Peralta, Maiden Voyage (Eighty-Eight's, 2006)
• Paula Cole, Courage (Decca, 2007)
• The Great Jazz Trio, Blue Minor (Eighty-Eight's, 2008)
• Yo-Yo Ma, Songs of Joy & Peace (Sony Classical, 2008)
• Tsuyoshi Niwa, At the End of the Day (2013)
• Richie Goods & Nuclear Fusion, Three Rivers (Richman Music Inc., 2015)
• Sedar Chin, SEDAR (Sedar Music 塞达音乐, 2016) - on tracks (3 & 11)
• Alice Soyer, Sky on Earth (Phlip Side, 2017)
• Shunzo Ohno, Dreamer (Pulsebeats, 2018) - on tracks (1 & 3)
• Gillian Margot, Power Flower (Ropeadope, 2020) - on "One Day I'll Fly Away"
• Bobby Lyle, Ivory Flow (New Warrior Music, 2022) - on "Tommy's Song"

• Billy Kilson at Modern Drummer
• Mark Gilbert, "Billy Kilson". Grove Jazz online.