Star
Trek (of course)

Star
Trek DS 9

“In
the vicinity of the liberated planet of Bajor, the Federation space
station Deep Space Nine guards the opening of a stable wormhole to
the far side of the galaxy.” (IMBD)

The
Star Trek universe is filled with aliens doing humans doing other
aliens doing so much space drama. Anyway out of all the different
Trek series Deep Space 9 was always my favorite because:

• all
  the characters were morally gray
• a
  minimum of Star Fleet self righteousness
• my
  favorite shape shifter Odo (Any shape. The
  possibilities!)

• the
  Cardassians. My favorite was Gul Dukat who had a villainous crush o
  Kira Neris. Very problematic. I loved it.

• Kira
  Neris who had a canon relationship with
  Odo and the very hot villainous crush thing with Gul Dukat.

Babylon
5

“In
the mid 23rd Century, the Earth Alliance space station Babylon 5,
located in neutral territory, is a major focal point for political
intrigue, racial tensions and various wars over the course of five
years.” (IMBD)

A
space station full of morally gray and therefor very engaging
character? Also hot aliens? Sign me up!

My
favorites:

• Lennier
  (poster child for looks like a cinnamon roll but could kill you)

• G’Kar (virile lizard man) and his archenemy/buddy Londo Mollari (tentacles!)     

• canon relationship between ambassador Delenn and commander John Sheridan   

Defiance

“In
the year 2046, it’s a new Earth – with new rules. Over thirty years
after various alien races arrived on Earth, the landscape is
completely altered, terraformed nearly beyond recognition. To the
town of Defiance, on what used to be St. Louis, comes the mysterious
Nolan (Grant Bowler) and his charge, Irisa (Stephanie Leonidas). As
they settle into town – overseen by the mayor, Amanda Rosewater
(Julie Benz) and filled with residents like the powerful Rafe
McCawley (Graham Greene), enterprising lounge owner Kenya (Mia
Kirshner) and the ambitious, alien Tarrs (Tony Curran and Jaime
Murray) – events begin to unfold that threaten the fragile peace this
border town has fought for.” (IMBD)

My
favorites:

• Successful
  human father/alien daughter adoption story 🙂 They have so much fun
  together, especially with guns.

• Murderous white haired space elf mafia family. Very defunct, very engaging, I love them. 

Alien
Nation

“A
flying saucer crashed in the Mojave Desert and its inhabitants turned
out to be alien slaves, bred to be super intelligent and strong, and
controllable by their Overseers. These Tenctonese, or “Newcomers”,
have been assimilated (sort of) into the population of Los Angeles.
One of them, George Francisco, is a police detective with a human
partner, Matthew Sikes. George and Matt fight crime together, while
learning to respect the other’s culture, and question his own. They
also fight prejudice, as personified by the Purists, and fear, in the
form of the unseen Overseers, who seek to regain control over their
slaves.” (IMBD)

Note:
There’s one movie from 1988 which predates this TV show and 5 TV
movies which take place after the events on the TV show.

My
favorites:

• It’s
  structured like a buddy cop police procedural just with an alien as
  one part of the buddy duo.

• canon interspecies relationship

Star
Gate, Farscape, Andromeda

I
was never heavily into these but I guess they belong on this list.

Honorable mention: Futurama

I
included only TV shows with aliens that have a more or less inhuman
appearance.

Feel
free to add more shows 🙂