In September 2004, Shields replaced Donna Murphy in the role of Ruth Sherwood in the 2003 revival of Wonderful Town until the show closed four months later. Her performance was widely praised.

Shields has appeared in several Broadway musical theater productions. She played Rizzo in the 1994 revival of Grease. For four months, beginning July 2001, she played Sally Bowles in the long-running 1998 revival of Cabaret.

Brooke Shields also appeared as a featured celebrity in NBC's genealogy documentary reality series, Who Do You Think You Are?, where it was revealed that, through her father's ancestry, she is the distant cousin (many generations removed) of King Louis XIV of France, and thus a descendant of both Saint Louis and Henry IV of France.

Starting in 2010, Brooke Shields made guest appearances on The Middle as the mother of a brood of terror-inducing children and the nemesis of Frankie Heck (played by Patricia Heaton).

In 2007, Brooke Shields made a guest appearance on Disney's Hannah Montana, playing Susan Stewart, Miley and Jackson's mother, who died in 2004. In 2008, she returned in the primetime drama Lipstick Jungle.

In the late 2000s, Brooke Shields guest-starred on shows like FX's Nip/Tuck and CBS' Two and a Half Men. In 2005, Shields appeared in a season-two episode of HBO's Entourage, entitled "Blue Balls Lagoon."

Brooke Shields recorded the narration for the Sony/BMG recording of The Runaway Bunny, a concerto for violin, orchestra, and reader, by Glen Roven. It was performed by the Royal Philharmonic and Ittai Shapira.

Brooke Shields made a couple of guest appearances on That '70s Show. She played Pam Burkhart, Jackie's (Mila Kunis) mother, who later was briefly involved with Donna's (Laura Prepon) father (played by Don Stark). Shields left That '70s Show when her character was written out.