The rapper hosted the "Plizzanet Earth" segment, teaching children about wildlife. The segment showed a clip of a fur seal trying to mate with a king penguin.
"He cold-blooded. He went Bill Cosby on him, 'cuz," the rapper said as the audience laughed. "Look at him, putting it in that pudding."
"Thank you, Snoop," Kimmel said with a shy laugh.
Since last fall, Cosby, 77, has faced backlash since roughly 30 women came forward with allegations of drugging and sexual misconduct against the comedian. Although no charges have been filed, NBC axed a comedy it was developing for the comedian as a starring vehicle while Netflix postponed a special with Cosby to premiere over the 2014 Thanksgiving holiday.
The scandal also affected Cosby’s touring comedy show with strings of cancellations and ticket refunds, TheWrap previously reported.