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Avenue Q is a Tony award-winning musical that was conceived by Robert Lopez and Jeff Marx, who wrote the music and lyrics. The show is largely inspired by (and is in the style of) Sesame Street: most of the characters in the show are puppets (operated by actors onstage), the set depicts several tenements on a rundown street in an "outer borough" of New York City, both the live characters and puppet characters sing, and short animated video clips are played as part of the story.

Also, several characters are recognizably parodies of classic Muppet characters: for example, the roommates Rod and Nicky are versions of Sesame Street's Bert and Ernie, and Trekkie Monster is based on Cookie Monster. However, the characters are in their twenties and thirties and face adult problems instead of those faced by pre-schoolers. The characters use profanity, and the songs concern adult themes. A recurring theme is the central character's search for a "purpose".

After an Off-Broadway opening, the show moved to Broadway in 2003 and won several Tony Awards, including the award for Best Musical. As of July 2007, it is still running on Broadway. The show has spawned a 2005 Las Vegas production, a 2006 West End production and various international productions. A U.S. National Tour began in July 2007.

The show is explicitly an homage to the PBS children's television program Sesame Street. Both Marx and puppet designer/original cast member, Rick Lyon have previously worked for Sesame Street, as have the other puppeteers in the original cast. However, unlike Sesame Street, Avenue Q openly addresses adult topics such as racism, jealousy, and masturbation; in fact, because of its adult language and content and "full puppet nudity" (including simulated sex between puppets), the show specifically disclaims any connection to the Children's Television Workshop or The Jim Henson Company.