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Futurama. Everyone has his/her little prejudices - Bender dreams about killing all the humans, for example - but the only group that really faces institutional racism is the mutant population, which isn't allowed to go on the surface unless with special passes (which even then aren't always honored). Although they themselves hate in turn the sub-mutants who live in the sub-sewers. Oh, and Zapp Brannigan really hates the neutral people (but then…what does it take to make a man turn neutral?). Oh, and the Native Martians are a clear allegory for Native Americans, complete with being tricked into giving up their entire planet for just a bead (which turns out to be the biggest diamond in the universe, making it not such a bad deal after all).

The Animatrix – The whole Matrix origin story "The Second Renaissance" uses a lot of really obvious racism parallels to explain how humans and AI came to hate each other.

Planet Of The Apes. I can't believe we left out the 1970s' greatest racism analogy, until commenter UshaBibaculus pointed it out. Damn it all to hell!

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Isaac Asimov. Some of his stuff about robots takes on racism overtones, but the condescension of space-going humans towards those still on Earth is way more blatant. Pebble in the Sky has some of the most blatant anti-Earth sentiment, as even the hero, archaeologist Bel Arvadan, considers himself quite progressive and would allow an Earthling to join one of his digs – as long as nobody else objected too strongly. Asimov's short story "The Martian Way" also shows how Earth sentiment against the colonists on Mars forces them to find fuel around the rings of Saturn. Considering the Earth politician who whips up public outcry against the colonists is actually called Hilder, I think it's fairly clear this goes beyond simple dislike. Meanwhile, in the real world, Asimov deleted aliens from his Foundation books entirely because he didn't want to deal with his editor John Campbell's belief that humans would always be superior to aliens, which grew out of his belief in Anglo-Saxon superiority.

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Alien Nation. After a bunch of aliens come to live among us in this TV series, they experience prejudice and mistreatment at the hands of the anti-alien Purists. The humans try to kill all of the Binnaums, the rare third gender which the aliens need to mate. Even the most sympathetic human character, Matt, turns out to have anti-alien biases.

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The Green-Sky Trilogy by Zilpha Keatley Snyder. These books spend a lot of time delving into the mutual distrust and antipathy between the "fair-skinned, treedwelling Kindar and the darker-skinned, underground race of Erdlings" who live on the eponymous Green-Sky planet.

Wild Cards, created by George R.R. Martin – In a world where aliens test out bioweapons on humanity, creating fully superpowered "Aces" and horribly mutated "Jokers", both groups face bigotry at the hands of humans - although the Jokers generally have a much harder time of it, being horribly mutated and all.

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Darkover by Marion Zimmer Bradley. In this series of books about humans colonizing the world Cottman IV after their ship crashes, the native trailmen and catmen face a lot of nasty prejudice from the humans.

Someone Like Me by Tom Holt. This book explores a post-apocalyptic world where the remnants of humanity spend all their time fighting evil, mindless monsters. The only problem with that is that these monsters aren't evil or mindless at all, but in fact just as intelligent and human (with all the attendant strengths and flaws) as the humans, which the human protagonist discovers at the end of the book.

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Warchild by Karin Lowachee. Humans assume their alien opponents are mindless cannibals and hate them accordingly. Then the author explores the alien society, and the truth becomes far more complicated.

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The Xenogenesis Trilogy by Octavia Butler. The Oankali find humans fascinating and horrifying, and they want to combine with us to create a new species - unfortunately, humans are also revolted by the Oankali, and have a lot of disgust for the half-breed Akin, the first person to result from the intermixing.

Astro Boy. As TVTropes points out, this anime includes robots comparing their planned robot homeland to Israel, and also compares the human treatment of robots to Apartheid. One Japanese robot flees to the United States after almost being lynched. (TVTropes also points to Bubblegum Crisis, Fullmetal Alchemist, Zettai Karen Children, Warhammer 40K and Mass Effect. I wish I'd found that page before we'd already finished researching this post!)

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Mr. Show. This list would be hopelessly incomplete without the comedy sketch, "Racist in the Year 3000." We miss Mr. Show.

Additional reporting by Alasdair Wilkins.