• 1974: The Almoravid (Muse)
• 1976: New World (Finite)
• 1977: Double Exposure (Muse)
• 1981: New York Concerto (Baystate)
• 1991: Phantom of the City (Candid Records)
• 1995: Isla Verde (Paddle Wheel)
• 1998: Mirrors (Blue Note)
• 2003: Urban Groove (441 Records)
• 2006: The Outlaw (Savant)
• 2010: Horace to Max (Savant)
• 2012: Joe Chambers Moving Pictures Orchestra (Savant)
• 2016: Landscapes (Savant)
• 2021: Samba de Maracatu (Blue Note)^[9]​

Con Franck Amsallem

• Summer Times (Sunnyside, 2003)

Con Chet Baker

• Peace (Enja, 1982)

Con Donald Byrd

• Mustang! (Blue Note, 1964)
• Fancy Free (Blue Note, 1969)

Con Chick Corea

• Tones for Joan's Bones (Atlantic, 1966)

Con Stanley Cowell

• Brilliant Circles (Freedom, 1972)
• Back to the Beautiful (Concord, 1989)

Con Miles Davis

• The Complete In a Silent Way Sessions (Columbia, 1969)

Con Art Farmer

• Something Tasty (Baystate, 1979)

Con Don Friedman

• Metamorphosis (Prestige, 1966)

Con Jimmy Giuffre

• New York Concerts (1965; Elemental Music, 2014)

Con Joe Henderson

• Mode for Joe (Blue Note, 1966)
• Big Band (Verve, 1992)

Con Andrew Hill

• Andrew!!! (Blue Note, 1964)
• One For One (Blue Note, 1965)
• Compulsion!!!!! (Blue Note, 1965)

Con Freddie Hubbard

• Breaking Point (Blue Note, 1964)

Con Bobby Hutcherson

• Dialogue (Blue Note, 1965)
• Components (Blue Note, 1965)
• Happenings (Blue Note, 1966)
• Spiral (Blue Note, 1965–1968)
• Oblique (Blue Note, 1967)
• Patterns (Blue Note, 1968)
• Total Eclipse (Blue Note, 1968)
• Medina, (Blue Note, 1969)
• Now!, (Blue Note, 1969)
• Blow Up, (JMY, 1969 released 1990)

Con Robin Kenyatta

• Nomusa (Muse, 1975)

Con Lee Konitz

• Figure & Spirit (Progressive, 1976)

Con Hubert Laws

• Wild Flower (Atlantic, 1972)

Con Ray Mantilla

• Mantilla (Inner City Records, 1978)

Con M'Boom

• Re: Percussion (Strata-East, 1973)
• M'Boom (Columbia, 1979)
• Collage (Soul Note, 1984)
• To the Max! (Enja, 1990–91)

Con Charles Mingus

• Charles Mingus and Friends in Concert (Columbia, 1972)
• Something Like a Bird (Atlantic, 1978)
• Me, Myself an Eye (Atlantic, 1978)

Con Grachan Moncur III

• Shadows, (Denon, 1977)

Con Karl Ratzer

• In Search Of The Ghost, (Vanguard, 1978)

Con Sam Rivers

• Contours, (Blue Note, 1965)

Con Jeremy Steig

• Lend Me Your Ears, (CMP Records, 1978)

Con Woody Shaw

• In the Beginning (Muse, 1965 [1983])
• The Iron Men con Anthony Braxton (Muse, 1977 [1980])

Con Archie Shepp

• Fire Music (Impulse!, 1965)
• On This Night (Impulse!, 1965)
• New Thing at Newport (Impulse!, 1965) (also features a set by John Coltrane)
• For Losers (Impulse!, 1969)
• Kwanza (Impulse!, 1969)
• On Green Dolphin Street (Denon, 1978)

Con Wayne Shorter

• Et Cetera (Blue Note, 1965)
• The All Seeing Eye (Blue Note, 1965)
• Adam's Apple (Blue Note, 1966)
• Schizophrenia (Blue Note, 1967)

Con Heiner Stadler

• Brains On Fire Vol. 1 (Labor Records, 1966)

Con John Stubblefield

• Prelude (Storyville, 1977)

Con Ed Summerlin

• Sum of the Parts (Ictus, 1998)

Con The Super Jazz Trio

• The Super Jazz Trio (Baystate, 1978)
• Something Tasty (Baystate, 1979)
• The Standard (Baystate, 1980)

Con Hidefumi Toki

• City (Baystate, 1978)

Con Charles Tolliver

• Paper Man (Freedom, 1968 [1975])

Con McCoy Tyner

• Tender Moments (Blue Note, 1967)

Con Miroslav Vitous

• Infinite Search, (Embryo, 1969)

Con Tyrone Washington

• Natural Essence (Blue Note, 1967)

Con Joe Zawinul

• Zawinul (Atlantic, 1970)