Lima was a series regular on the web comedy Poor Paul (2008–2009), and then became a series regular on the Fox medical drama The Mob Doctor (2012–2013). She had a recurring role on the NBC spy series Allegiance (2015), was a series regular on the ABC thriller The Family (2016), and has a recurring role on the Fox action series Lethal Weapon (2016). From 2016 to 2017, Lima played lesbian detective Maggie Sawyer in the second and third seasons of The CW series Supergirl.

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

In 2019, Lima joined the second season of the ABC series A Million Little Things as armed forces veteran and physiotherapist Darcy Cooper. She became a series regular in the third season (2021).

Lima appeared in individual 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).