From Muppet Wiki

Kermit and Piggy at the 31st Annual Emmy Awards, 1979

Kermit and Piggy hosting the pre-awards show in 2004.

David Canary and Oscar the Grouch.

Tyra Banks and Elmo.

Animal parody.

A list of appearances that Muppets have made on Emmy Awards and Daytime Emmy Awards broadcasts.

1970, Primetime

Big Bird joins Dick Cavett as a presenter at the prime-time awards, marking the first appearance of a Sesame Street character at the ceremonies.

1979, Primetime

Miss Piggy thinks that she and Kermit have been asked to host the show, but he explains that they're just there to read the rules. Piggy is offended: "I did NOT spend six hours with Monsieur Jacques of Encino to read lousy rules!" She pouts while Kermit reads the rules, then refuses to get offstage until she gets a close-up.

2003, Daytime

Elmo, Zoe, Grover, Rosita, Big Bird and Wayne Brady peform a medley of songs from Mister Rogers' Neighborhood as a tribute to Fred Rogers.

2004

Kermit and Miss Piggy host the pre-show for the Emmys.

2005, Daytime

Oscar the Grouch and All My Children actor David Canary, both in trash cans, present the award for Outstanding Performer in a Children's Series. Kevin Clash wins the award.

2006, Daytime

Caroll Spinney is awarded a Lifetime Achievement Award from the Daytime Emmys.

2007, Daytime

Elmo and Tyra Banks presented the winners of the "Children's Emmy Awards"

Muppet Mentions

The theme to The Muppet Show was excerpted in a montage melody sung by Josh Groban, in the September 21, 2008 broadcast. Groban sang a segment of the theme song with Animal's voice, as an Animal photo puppet replica played the drums. (The dummy used one stick to keep him upright, and two sticks with which an unknown performer hidden behind the drummer made Animal play the drum set.) The next theme was for The X-Files, and the Animal parody was hoisted to the ceiling, with Groban yelling "No! Take me!", pretending it was an alien abduction. (YouTube)