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- James Gandolfini
- Jennifer Garner explaining the word "galoshes"
- Brad Garrett
- Jennie Garth
- Crystal Gayle
- Ricky Gervais—defined "stumble'; helped sing "Set Your Piggies Free"; sang a Celebrity Lullaby to Elmo
- Charles Gibson
- Mel Gibson
- Kathie Lee Gifford
- Evelyn Glennie
- Whoopi Goldberg, talked with Elmo about skin color and hair texture.
- Jeff Goldblum, one episode: Bob's brother Minneapolis who sought for a golden cabbage in Snuffy's cave with Big Bird, Snuffleupagus, and Bob.
- Selena Gomez
- The Goo Goo Dolls Performed the song "Pride" which is based on their Hit single Slide
- John Goodman
- Jeff Gordon as a race car announcer for the Wormy race.
- Gilbert Gottfried
- Ben Graham, one segment: Graham, a New York Jets player, appears during in season 38 (2007), along with other Jets, Elmo, and Elmo's goldfish Dorothy.
- Kelsey Grammer
- Denyce Graves
- Seth Green
- Lorne Greene
- Adrian Grenier acted out the word "Season" with Elmo.
- David Alan Grier
- Ed Grimley
- Charles Grodin
- Jake Gyllenhaal appears with an octopus stuck on his head and teaches the word "separate"
- Maggie Gyllenhaal teaches the word "surprise"; did a handstand for "Set Your Piggies Free"
Read more about this topic: List Of Guest Stars On Sesame Street