Lima was a series regular in the internet comedy Poor Paul (2008-2009) and later became a series regular in Fox's medical drama The Mob Doctor (2012-2013). She had a recurring role in NBC's spy series Allegiance (2015), was a series regular in ABC's thriller The Family (2016) and has a recurring role in Fox's action drama Lethal Weapon (2016). From 2016-2017, Lima played lesbian Detective Maggie Sawyer in season two & three of The CW's Supergirl.

In 2018, Lima played the character of psychiatrist Krista Dumont in the second season of Netflix's The Punisher.

In 2019, Lima joined the second season of ABC's A Million Little Things as military veteran & physical therapist Darcy Cooper. She became a series regular in season 3 (2021).

Lima made one-off appearances in episodes of How I Met Your Mother (2008), Ghost Whisperer (2009), Melrose Place (2009), House (2010), In Plain Sight (2010), Franklin & Bash (2011) and CSI: Crime Scene Investigation (2014).