Well have they, or is all TV show stuff considered non-authorititive re the accepted canon of a comic book character or storyline?
The Superman radio show created Kryptonite.
Um… well… the only thing I can think of is the “Faster than a speeding bullet, more powerful than a locomotive, and able to leap tall buildings in a single bound! It’s a bird! It’s a plane! It’s SUPERMAN! Up, up, and away!”
All of this dialogue never appeared in the comics until after it was beaten to death in the Superman radio show.
Joker’s sidekick Harley Quinn got her start on the Batman Animated Series during the 90’s.
Marc
Herbie the Robot was briefly, and awkwardly, shoehorned into The Fantastic Four. IIRC, Mr. Freeze was created for the Baman show in the 60s and remains an active character in the comics. The Wonder Twins joined the Justice League Task Force. Several guest characters from TV’s Super Friends became the Global Guardians, perennial guest stars in various DC books. Batman and Superman met on radio before they met in comics.
Firestar first appeared on SPIDER-MAN and his AMAZING FRIENDS. Years later she was brought into the Marvel universe proper
Not exactly the same thing, but the Lois and Clark TV show at least changed the Superman comics’ timeline for said couple’s marriage. The writers of the comics had been toying with their engagement for some years, until word came down that the television writers wanted them to get married. In order to keep things together, as well as to make it a Big Event, the current “they’re having problems” storyline got scrapped, and they had a quickie wedding the same month that the TV episode aired.
Oh, and the post-movie, post-boot-applied-to-Chris-Claremont’s-ass revamp of the X-Men titles included costumes (and a few other concepts) taken prety much directly from the movie. The movie had, of course, rejected most of the comics’ costuming as too cartoony.
Harley Quinn is the most obvious answer, but there are other recent examples. John Stewart is the Green Lantern in Cartoon Network’s Justice League, and now we see him, in the same uniform, in GL comics. Supergirl’s costume also changed in the comics to that idiotic thing she wore on the Superman animated series.
DC has an “adventures” series for Superman, Batman and Justice League tha even mimic the simplified look of the cartoon shows.
Basically, the trend I’ve found is that the TV shows and movies bring in new readers, so the comic writers try to make their comics as familiar as possible to these new readers. The X-Men costumes are another example.
Wasn’t Aunt Harriet created for the “Batman” television show to keep middle-class America from speculating about three men (Bruce, Dick, Alfred) living in the same house? Or am misremembering?
Sir Rhosis
Although this is movies and not TV, a Batman serial introduced the Batcave and Alfred the butler.
John Stewart has been a GL on and off for a couple of decades, far pre-dating his inclusion in Cartoon Network’s series.
Jon Stewart’s really Green Lantern? So that’s why the Daily Show’s always on hiatus!
In addition to Harley Quinn, I believe that the current incarnation of Mr. Freeze also was inspired by the early 90s Batman cartoon.
Thinking back, I can’t believe I forgot the other most obvious one (after Harley Quinn): Barbara Gordon first appeared on the 1960’s Batman TV show.
Nope.
She first appeared in Detective Comics #358, which was about 6 months before her character appeared on the show.
She-Hulk and Spider-Woman were created in comics to forestall any ripoffs of the '70s TV incarnations of their male counterparts. So, if there hadn’t been TV shows, those characters would never have been made.
And, in the case of Shulkie, the Marvel Universe would have been poorer for it. 
I know. My point was rather that after seeing Kyle’s face (and maybe Jade’s) on every GL cover since Zero Hour, we suddenly see Stewart step into the spotlight now that he’s on the Justice League show on Cartoon Network.
In other words, he’s now much more visible in the comics because he was visible in the TV show.
Mr. Freeze wasn’t created for TV; he’s taken from the comics’ Mr. Zero. Same concept, just a name change.
Not a superhero comic, but the DC Babylon 5 comic was officially considered by Stryczinski as part of the TV show continuity. As a matter of fact, it gave away a plot point that didn’t appear in the show until several months later. (Or rather, if you read the comic, you knew what was going to happen in the show, since you saw the setup).
The comic had a story set on Mars prior to the beginning of the TV show. At the end, Garabaldi discovered a secret psi-corp lab and, in the last panel, you saw them taking Talia Winters into it. A few months later, in the show, there was a plot about someone being brainwashed by the psi-corp to be a spy. If you saw the comic, you knew it had to be Talia.
The STAR WARS people considered the comics to be in continuity as well. They scuttled a Marvel story that had the Empire rebuilding the Death Star because that was a plot point in the then-upcoming RETURN OF THE JEDI. And while Boba Fettt was introduced in a minor cameo in ROTJ, word is he was intended from the get-go as a major player in the comic.
I’m pretty sure Jimmy Olsen originated in the Superman radio show as well.
And Sir Rhosis, I don’t think Aunt Harriet ever appeared in the comics.
Fiver, I think Aunt Harriet did briefly appear in the comics. Alfred was killed off (and became the villain “The Outsider” and then got better) and I’m pretty sure Aunt Harriet was running around during that period. (This woulda been at the height of Batmania)
Fenris