A wide variety of sex toys have been used to aid masturbation in both sexes.

Male masturbation aids range from improvised devices (the "fifi towel") to commercial devices such as artificial vagina substitutes and silicone pads and gloves. The American Fleshlight and Japanese Tenga products are probably the best-known commercial artificial vagina products. These devices are generally used with artificial sexual lubricants, which are also often used by themselves to aid manual masturbation. Prostate stimulators and butt plugs are also used as male masturbation aids. At the extreme of size and complexity, sex dolls exist to be used as masturbation devices.

Dildos and (typically dildo- or lipstick-shaped) vibrators are the commonest devices used to aid female masturbation. Other female masturbation aids include Ben-Wa balls and clitoral stimulators such as butterfly vibrators. Some vibrators include clitoral stimulators, or are designed to penetrate both the vagina and anus simultaneously. As with male masturbation, sexual lubricants are often used to aid female masturbation where natural lubrication is insufficient.

Pornography is often used as an aid to masturbation.