Via Starwars.com:

Quite serious, Yoda seems to be. When we first met Yoda on Dagobah in The Empire Strikes Back, he went through a string of amusing actions but then settled into the role of the wizened mentor with the galaxy on his shoulders. His sense of humor popped up now and again throughout the saga, and even though the little green Jedi Master never cracked obvious, laugh-out-loud jokes along the lines of “Why did the mouse droid cross the road?” (no stand up routine in the clubs of Coruscant for him — as far as we know), he was amusing in his own wry way. He made astute and funny observations in serious situations and wasn’t afraid to needle those around him. His playfulness was on display in Legends titles but also in the films and animated series.

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