In the Full House episode "Easy Rider", Joey buys Michelle a videotape of the movie to get her to like him again. She declines the offer because "it's on cable all month".
The first episode of Charmed's fifth season "A Witch's Tail" is a Whole Plot Reference to the Disney version. For added points, Phoebe is transformed into a mermaid for the opposite reason to Ariel: she wants to escape from love. And Phoebe is played by Alyssa Milano, who was the inspiration for Ariel's design.
Another Whole Plot Reference shows up in Once Upon a Time, when the live action versions of The Little Mermaid characters show up in the third season. Being a twisted tale, it has many references to the Disney film in different ways. In this version, Eric throws an annual "Under The Sea Ball" in honor of the sea goddess, Ursula. The Evil Queen from Snow White, in disguise as Ursula, quips off some lines from the song Poor Unfortunate Soul as she convinces Ariel to become a human and "be apart of his world". Later in season 4, when the real Ursula shows up, there are a few more references to the Disney film including Ursula actually singing Fathoms Below.
In "Homer Badman", Homer proposes that the family escape their troubles by going under the sea, and then has an Imagine Spot where the family is dancing to a parody of "Under the Sea" where Homer eats the fish.
In "Make Room for Lisa", Lisa says that the movie was her favorite until Homer taped over it.
In "The Book Job", Lisa tries to get a story for a teen lit novel. She gets the idea for a story about a mermaid who falls in love with a boy on land, only to look at a Little Mermaid poster on her wall.
In the American Dad! episode "Francine's Flashback", Stan calls in the Air Force to bomb the ocean so he and his CIA buddies can catch fish. A dead mermaid surfaces and Stan identifies her as Ariel.
In an episode of The Grim Adventures of Billy & Mandy, Billy gets sucked under the ocean and meets a reggae-singing crab named Ziggy, who performs "Under the Ocean". After the song, Billy eats him and gets a cramp from the inside as a result.