It seems extraordinary to have waited so long into one's life to have found the part that actually uses your basic rhythm. And I think that's always sort of what actors connect up with - their own sort of world.

She got her acting start in the 1960s playing opposite Dustin Hoffman in the Broadway play Jimmy Shine. Sullivan voiced Queen Hippolyta in the animated television series Justice League Unlimited. It was during this time Susan Sullivan played parts in daytime dramas.

She currently appears in Castle as Richard Castle's mother Martha Rodgers. Sullivan played the role of Lenore Curtin Delaney on the daytime soap opera Another World (1971–1976); waitress Lois Adams during the first season (1980-1981) of the comedy It's a Living Maggie Gioberti Channing on the soap opera Falcon Crest (1981–1989); and Kitty Montgomery on sitcom Dharma & Greg (1997–2002).