From 1971 to 1976, she was a regular on the successful Rock Hudson detective series "McMillan & Wife", playing the McMillans' housekeeper, Mildred. During the first two years of "Rhoda", Walker was not featured every week, so she was able to shuttle back and forth between the CBS sitcom and the NBC detective series. These two roles brought her seven Emmy Award nominations. In 1976, ABC-TV offered Walker a contract to headline her own series, "The Nancy Walker Show", which was produced by Norman Lear's production company, in which she starred as Nancy Kittredge, a talent agent. Walker appeared on a second-season episode of "The Muppet Show".