Richardson began her acting career in the theater before roles in television and film. In film, she played small roles in Prelude to a Kiss, Mo' Money, Posse, and later had major roles in Sioux City and A Low Down Dirty Shame. From 1994 to 1996 she had voice role of Elisa Maza on the animated series Gargoyles. She had many guest-starring roles in numerous television shows, such as Star Trek: Deep Space Nine, New York Undercover, The Pretender, Stargate SG-1, NYPD Blue, House, Bones, Criminal Minds, NCIS and Castle.