| Year | Title | Notes |
| 1968 | The Cheerful Insanity of Giles, Giles and Fripp
- Released: 1968
- Label: Deram
| With Michael and Peter Giles |
| 1973 | Released: November 1973Label: Island | With Brian Eno |
| 1975 | Evening StarReleased: December 1975Label: Island | With Brian Eno |
| 1981 | The League of GentlemenReleased: February 1981Label: E.G. | With The League of Gentlemen |
| 1982 | I Advance MaskedReleased: October 1982Label: A&M | With Andy Summers |
| 1984 | BewitchedReleased: September 1984Label: A&M | With Andy Summers |
| 1985 | God Save The KingReleased: 1985Label: E.G. | With The League of GentlemenCompilation album |
| 1986 | Live!Released: 1986Label: E.G. | With The League of Crafty GuitaristsCo-production |
| 1986 | The Lady or the TigerReleased: 1986Label: E.G. | With Toyah Willcox and The League of Crafty GuitaristsCo-production |
| 1991 | Show of HandsReleased: 15 March 1991Label: E.G. | With The League of Crafty GuitaristsProduction |
| 1991 | Kneeling at the ShrineReleased: 7 May 1991Label: E.G. | With Sunday All Over The World |
| 1993 | The First DayReleased: 5 July 1993Label: Virgin | With David SylvianCo-production |
| 1993 | The Bridge BetweenReleased: 1993Label: Discipline | With Trey Gunn and the California Guitar TrioListed as Robert Fripp String Quintet |
| 1994 | FFWDReleased: 11 July 1994Label: Inter-Modo | With Thomas Fehlmann, Kris Weston, and Dr. Alex Paterson |
| 1994 | Released: 1 October 1994Label: Virgin | With David SylvianCo-production |
| 1995 | Intergalactic Boogie Express: Live in Europe 1991Released: 10 July 1995Label: Discipline | With The League of Crafty GuitaristsCo-production |
| 1995 | Cheikha Rimitti Featuring Robert Fripp and FleaReleased: 1995Label: Absolute Records | With Cheikha Rimitti and Flea |
| 1996 | Thrang Thrang GozinbulxReleased: 11 June 1996Label: Discipline | With The League of GentlemenOfficial live bootleg |
| 1999 | The Repercussions of Angelic BehaviorReleased: 9 November 1999Label: First World Music | With Bill Rieflin and Trey Gunn |
| 1999 | Birth of a GiantReleased: 16 November 1999Label: First World Music | With Bill Rieflin and Trey Gunn |
| 2000 | A Temple in the CloudsReleased: 2000Label: Projekt | With Jeffrey Fayman |
| 2005 | The Equatorial StarsReleased: 5 April 2005Label: Discipline | With Brian Eno |
| 2006 | The Cotswold GnomesReleased: 23 October 2006Label: Discipline | With Brian EnoLive albumRenamed Beyond Even for CD release |
| 2008 | ThreadReleased: 23 September 2008Label: Panegyric | With Theo Travis |
| 2010 | Live at Coventry CathedralReleased: 21 September 2010Label: Panegyric | With Theo Travis |
| 2011 | A Scarcity of Miracles – A King Crimson ProjeKctReleased: 30 May 2011Label: Discipline | With Jakko Jakszyk and Mel Collins |
| 2011 | 28 May 1975 Olympia Paris, FranceReleased: 2011Label: DGMLive.com | With Brian Eno |
| 2012 | FollowReleased: 30 October 2012Label: Inner Knot | With Theo Travis |
| Year | Title | Notes |
| 1970 | H to He, Who Am the Only One
| With Van der Graaf GeneratorGuitar on track No. 3 "The Emperor in His War Room" |
| 1971 | Septober EnergyReleased: 1971 | With CentipedeProducer |
| 1971 | Fool's Mate Released: 1971 | With Peter Hammill Electric guitar on tracks "Imperial Zeppelin", "Sunshine", "Child", "Viking", "The Birds" and "I Once Wrote Some Poems" |
| 1971 | Pawn HeartsReleased: October 1971Label: Charisma | With Van der Graaf GeneratorGuitar on track No. 3 "Man-Erg" and track No. 4 "A Plague of Lighthouse Keepers" |
| 1972 | BlueprintReleased: 1972 | With Keith TippettProducer |
| 1973 | Ovary LodgeReleased: 1973 | With Keith Tippett, Roy Babbington & Frank PerryProducer |
| 1974 | Here Come the Warm JetsReleased: January 1974 | With Brian EnoGuitar on "Baby's on Fire", "Driving me Backwards", "Blank Frank" |
| 1975 | Another Green WorldReleased: September 1975 | With Brian EnoGuitar on "St. Elmo's Fire", "I'll Come Running", "Golden Hours" |
| 1977 | Peter GabrielReleased: 25 February 1977Label: Atco | With Peter Gabriel Electric & classical guitars, banjo |
| 1977 | "Heroes"Released: 14 October 1977Label: RCA | With David BowieAlso with Brian EnoLead guitar on track "Heroes" |
| 1977 | Before and After ScienceReleased: December 1977 | With Brian EnoGuitar on "King's Lead Hat" |
| 1978 | Peter GabrielReleased: 3 June 1978Label: Charisma, Atlantic | With Peter GabrielProducerElectric guitar on tracks "On the Air","Mother of Violence","White Shadow" & "Perspective"; acoustic guitar on "White Shadow"; Frippertronics on "Exposure" |
| 1978 | Along the Red Ledge Released: August 1978 | With Hall & Oates Guitar on "Don't Blame It on Love" |
| 1978 | Parallel LinesReleased: September 1978Label: Chrysalis | With BlondieGuitar on track No. 4 "Fade Away and Radiate" |
| 1979 | Fear of MusicReleased: 3 August 1979Label: Sire | With Talking HeadsGuitar on track No. 1 "I Zimbra"Also with Brian Eno |
| 1979 | The RochesReleased: 1979Label: Warner | With The RochesElectric guitar, Fripperies and production |
| 1980 | Sacred SongsReleased: March 1980Label: RCA | With Daryl HallProducerGuitar, electronics |
| 1980 | Peter GabrielReleased: 30 May 1980Label: Charisma, Mercury | With Peter GabrielGuitar on "No self-control", "I Don't Remember" & "Not One of Us" |
| 1980 | Scary MonstersReleased: 12 September 1980Label: RCA | With David BowieGuitar on "Fashion", "It's No Game", "Scary Monsters ", "Kingdom Come", "Up the Hill Backwards" and "Teenage Wildlife" |
| 1980 | Walter Steding | With Walter Steding Guitar on "Hound Dog" |
| 1982 | Keep On Doing | With The Roches Guitar, devices, producer |
| 1986 | Gone to EarthReleased: 23 September 1986Label: Virgin Records LTD. | With David SylvianGuitars & Frippertonics on "Taking The Veil", "Gone To Earth", "Wave", "River Man", "Silver Moon" "Camp Fire: Coyote Country" & "Upon This Earth" |
| 1994 | LifeformsReleased: 27 May 1994Label: Virgin | With The Future Sound of LondonGuitar textures and bytes on track No. 3 "Flak" |
| 1996 | X Released: 1996 Label: EastWest | With The Beloved Featuring |
| 1999 | Approaching SilenceReleased: 1999Label: Venture | With David SylvianVocals and Frippertronics on track No. 3 "Approaching Silence" |
| 2001 | The ThunderthiefReleased: 2001Label: Discipline Global Mobile | With John Paul Jones Guitar solo on track No. 1 "Leafy Meadows" |
| 2006 | Side ThreeReleased: 18 April 2006Label: Sanctuary Records | With Adrian BelewGuitar on "Water Turns To Wine" |
| 2007 | Fear of a Blank PlanetReleased: 2007Label: Roadrunner / Atlantic | With Porcupine TreeSoundscapes on "Way Out of Here" and lead guitar on "Nil Recurring" |
