Both the SNL and Fallon skits featured the real and mock politicians staring at each other through a mirror.
Ms Harris used the primetime appearance to poke fun at Trump, days after a viral video showed him struggling to climb into a garbage truck in Wisconsin while wearing an orange fluorescent safety vest.
In a pep talk to Rudolph, Ms Harris said: “I am just here to remind you that you have got this. You can do something your opponent cannot do, like open doors.”
Claim Harris SNL appearance broke broadcasting rules
The Trump campaign was unimpressed by Saturday night’s sketch.
“Kamala Harris has nothing substantive to offer the American people, so that’s why she’s living out her warped fantasy cosplaying with her elitist friends on Saturday Night Leftists as her campaign spirals down the drain into obscurity,” said campaign spokesman Steven Cheung.
“For the last four years, Kamala’s destructive policies have led to untold misery and hurt for all Americans. She broke it, and President Trump will fix it.”
Ms Harris’s appearance on Saturday Night Live violated broadcasting rules, a Trump appointee at a television watchdog has claimed.
The show which has an audience of around five million breached an “equal time rule”, according to Brendan Carr from the Federal Communications Commission.
“This is a clear and blatant effort to evade the FCC’s Equal Time rule,” he said, adding that the rule was designed to avoid “this type of biased and partisan conduct”.
The rule grants candidates the right to request equal air time.