Usually comic book characters are the ones adpated to Television, Movies, etc. but sometimes some characters will outshine and are worth being printed on paper and carrying on in the canon universe. Starting with the Batman the Animated Series back in 1992, Hayley Quinn capatured audiences as a female sidekick to the Joker. There were female sidekicks to the Joker in the 70's on television but Harley is much more fleshed out and adored. She transitioned to comics in the Graphic Novel based on the cartoon 'Mad Love' that went to animation, about her origin. She was a psychiatrist that worked at the Arkham Asylum where the Joker was interacted in and he slowly had his touch on her and then the rest is history. On the animated series, she slowly began being paired with Posion Ivy, mostly when she had a fallng out with Joker. She has since been in all other forms such as dolls, video games, the short-lived Birds of Prey TV series, and season four of The Batman.
Most or all of the characters that have went from television to comic books have been female. Others including Firestar from my favorite series growing up Spider-man and his Amazing Friends. She originated there supposedly being a former X-Men but then later in-continuity comic books such as the Uncanny X-Men, The Warriors, The New Avengers and other Spider-Man related comics.
As from Batman Animated Series, Rene Montoya police officer who has recently been linked romantically to Batwoman.
Recently X-23, Wolverine's clone (not Morrow!) who originated in X-Men: Evolution.
Mercy Graves, Lex Luthor's hot female bodyguard from the Animated series of Superman. In the comic book she has appeared along with Hope, another hired muscle.When the witch Circe attempted to visit Lex Luthor at the White House, Hope and Mercy attempt to stop her by saying that they could always recognize her, denoting previous familiarity, which the Amazons in the Wonder Woman comic have. Although Hope's time as a LexCorp employee has passed, Mercy can still be seen with the fugitive Lex Luthor.
Lastly but not least, as recent as the beginniung of 2006 Lori Petty's villianess. The Animated universe has been known as the DCAU, her comic character is similar and she also has disdain for Billy Batson--Captain Marvel.