| 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 | Colin Scot Released: 1971 | With Colin Scot Guitar Credited as "Bob Fripp " |
| 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 "Man-Erg" and "A Plague of Lighthouse Keepers" |
| 1972 | BlueprintReleased: 1972 | With Keith TippettProducer |
| 1972 | Matching Mole's Little Red Record Released November 1972 | With Matching Mole Producer |
| 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 GabrielElectric & classical guitars, banjo |
| 1977 | Magic Is A Child Released: September 1977 | With Nektar Under Walt Nektroid pseudonym Guitar on "Train From Nowhere" |
| 1977 | "Heroes"Released: 14 October 1977Label: RCA | With David BowieAlso with Brian EnoLead guitar on tracks "Beauty and the Beast" and "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" |
| 1978 | Music for Films Released: September 1978 | With Brian EnoGuitar on "Slow Water" |
| 1979 | Fear of MusicReleased: 3 August 1979Label: Sire | With Talking HeadsGuitar on track No. 1 "I Zimbra" |
| 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" |
| 1980 | Miniatures | Various artists Contributed track "Miniature" |
| 1981 | Fourth Wall | With Flying Lizards Guitar on "Glide/Spin" and "Lost and Found" |
| 1982 | Keep On Doing | With The Roches Producer Guitar, devices |
| 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" |
| 1990 | Planet Oz | With Inga Humpe Guitar on "Heaven" |
| 1992 | 456 | With The Grid Guitar on "Ice Machine" and "Fire Engine Red" |
| 1992 | Water | With David Cunningham Guitar on "Stars" |
| 1994 | The Woman's Boat Released: 24 May 1994 Label: Geffen | With Toni Childs Guitar |
| 1994 | LifeformsReleased: 27 May 1994Label: Virgin | With The Future Sound of LondonGuitar textures and bytes on track No. 3 "Flak" |
| 1994 | Voice Mail Released: 17 June 1994 Label: Canyon International | With John Wetton Guitar |
| 1994 | Flowermouth Released: 27 June 1994 Label: One Little Indian | With No-Man Guitars & Soundscapes on tracks "Angel Gets Caught in the Beauty Trap", "Animal Ghost", "Shell of a Fighter", "Teardrop Fall", "Simple", "Things Change" |
| 1996 | X Released: 1996 Label: EastWest | With The Beloved Soundscapes |
| 1999 | Birth of a GiantReleased: 16 November 1999Label: First World Music | With Bill Rieflin Featuring Guitars & Organ on eight tracks |
| 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 JonesGuitar solo on track No. 1 "Leafy Meadows" |
| 2002 | Strange Beautiful MusicReleased: 2002Label: Epic | With Joe SatrianiFrippertronics on track No. 6 "Sleep Walk" |
| 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" |
| 2011 | Th1rt3en Released: 7 February 2011 | With Robert Miles Electric guitar on tracks "Everything Or Nothing", "Afterglow", keyboards on "Deep End" |