TiNiSn is an N-type thermoelectric material with a high-power factor composed of low toxicity and abundant elements. TiNiSn also shows P-type electrical conduction by hole doping. In this study, we tune the conduction properties of TiNi1−xCoxSn (0 ≤ x ≤ 0.15) with Co substitution at the Ni site. The samples were prepared by the arc melting method, and thermoelectric properties were investigated up to 800 K. The results of the Hall effect and the Seebeck coefficient measurements indicate that the majority of charge carriers changes from electrons to holes at x ≥ 0.03, suggesting that Co acts as an acceptor. We report for the first time that Ti0.994Ni1.00Co0.051Sn1.01 exhibits ZT = 0.12 at 675 K. This work reveals that Ti0.994Ni1.00Co0.051Sn1.01 could be a potential P-type thermoelectric material operating at high temperatures.