On television, Lenehan guest-starred on both comedy and dramas including Hill Street Blues, Family Ties, The Facts of Life, Fame, The Twilight Zone, Beauty and the Beast, The Tracey Ullman Show, Murphy Brown, Roseanne, The Golden Girls and Seinfeld. She provided the speaking and singing voice of Helen Henny from Chuck E. Cheese's Pizza Time Theater Chuck E Cheese's Pizza Time Theater restaurants from 1983 to 1991.
Lenehan appeared on television in both comedy and drama series, including Hill Street Blues, Family Ties, The Facts of Life, Fame, The Twilight Zone, Beauty and the Beast, The Tracey Ullman Show, Murphy Brown, Roseanne, The Golden Girls, and Seinfeld. She provided the voice for Helen Henny from Chuck E. Cheese's Pizza Time Theater restaurants from 1983 to 1991.