New York Undercover occasionally featured LGBTQ+ characters, primarily in crime-related plots where they were often victims of hate crimes. While the show condemned prejudice and sought justice, these portrayals were largely incidental, lacking deep, affirming character development or significant agency. The net impact is neutral, as the condemnation of hate is balanced by the limited and often victim-centric depiction.

The series often depicts Christian faith as a source of community support and moral guidance for characters, particularly in challenging urban environments. While individual religious figures might be portrayed as flawed, the narrative generally respects the faith itself, aligning with its virtues or showing it as a positive influence.

Reflecting New York City's diversity, the series includes Muslim characters and communities, often portraying Islam as a significant aspect of cultural identity and a source of community cohesion. The narrative generally avoids broad generalizations, focusing on individual characters' experiences rather than critiquing the faith itself.