Datasets:
| | Year | Single | Peak chart positions US | Peak chart positions US R&B | Peak chart positions US A/C | Peak chart positions UK | | |
| | 1978 | "I'm Coming Home Again" | — | 54 | — | — | | |
| | 1979 | "Am I Too Late" | — | 45 | — | — | | |
| | 1981 | "When a Child Is Born" (with Johnny Mathis) | — | — | — | 74 | | |
| | 1985 | "That's What Friends Are For" (with Dionne Warwick, Elton John & Stevie Wonder) | 1 | 1 | 1 | 16 | | |
| | 1986 | "Loving on Borrowed Time (Love Theme from Cobra)" (with Bill Medley) | — | — | 16 | — | | |
| | 1989 | "Licence to Kill" | — | 69 | 18 | 6 | | |
| | 1990 | "If I Knew Then What I Know Now" (with Kenny Rogers) | — | — | 10 | — | | |
| | 1991 | "Men" | — | 2 | — | — | | |
| | 1991 | "Superwoman" (with Dionne Warwick & Patti LaBelle) | — | 19 | — | — | | |
| | 1991 | "Meet Me in the Middle" | — | 78 | — | — | | |
| | 1992 | "Where Would I Be" | — | 66 | — | — | | |
| | 1994 | "I Don't Want to Know" | 113 | 32 | — | — | | |
| | 1994 | "End of the Road Medley" | — | 76 | — | — | | |
| | 1995 | "Next Time" | — | 30 | — | — | | |
| | 1996 | "Missing You" (with Brandy, Tamia & Chaka Khan) | 25 | 10 | 30 | — | | |
| | 2010 | "Settle" | — | — | — | — | | |
| | 2011 | "I (Who Have Nothing)" | — | — | — | — | | |