Acting

2023		Tales of the Tardis (1 episode) as The Doctor
2023		The Big Steam Adventure (4 episodes) as Himself
2023		Beyond Paradise (3 episodes) as Richard Baxter
2023		The Gold (5 episodes) as Assistant Commissioner Gordon Stewart

2021		The Larkins (13 episodes) as Vicar
2021		Murder, They Hope (1 episode) as David

2020		Between the Covers (1 episode)
2020		Life (6 episodes) as Henry Reynolds

2019		Good Omens (1 episode) as Job
2019		Gentleman Jack (8 episodes) as William Priestley
2019		The Name of the Rose (8 episodes) as Old Adso / Narrator (voice)

2018

(3 episodes) as Himself - Presenter

2017		Liar (2 episodes) as Denis Walters
2017		Harry Hill's Alien Fun Capsule (1 episode) as Self

2013		Toast of London (3 episodes) as Peter Davison
2013		Pat & Cabbage (6 episodes) as Michael
2013		Doctor Who: The Doctors Revisited (11 episodes) as Himself

2012

(1 episode) as Mr. Percival

2011		Death in Paradise (1 episode) as Arnold Finch
2011		Vera (1 episode) as Matthew Wells

2009		The Queen (5 episodes)
2009		Law & Order: UK (27 episodes) as Henry Sharpe
2009		Unforgiven (3 episodes) as John Ingram

2007		Fear, Stress & Anger (6 episodes) as Martin Chadwick
2007		Lewis (2 episodes) as Peter Faulkner

2006

(5 episodes) as George Huntley

2005		Doctor Who (2 episodes) as Self (1 episode) as The Doctor (archive footage) (2 episodes) as The Doctor
2005		Doctor Who Confidential (9 episodes)
2005		Distant Shores (12 episodes) as Bill Shore

2003		Hardware (1 episode) as Peter Davison
2003		The Last Detective (17 episodes) as Detective Constable 'Dangerous' Davies

2001

(1 episode) as Self

2000		At Home with the Braithwaites (26 episodes) as David Braithwaite
2000		The Nearly Complete and Utter History of Everything (2 episodes)

1999		Hope and Glory (1 episode) as Neil Bruce
1999		It's Only TV But I Like It (1 episode) as Self

1997		Jonathan Creek (1 episode) as Stephen Claithorne
1997		Midsomer Murders (1 episode) as Nicky Frazer

1994

(12 episodes) as Clive Quigley

1991

(14 episodes) as Ralph West

1989

(16 episodes) as Albert Campion

1987

(1 episode) as Self

1986

(14 episodes) as Dr. Stephen Daker

1985		Miss Marple: A Pocketful of Rye (2 episodes) as Lance Fortescue
1985		Anna of the Five Towns (4 episodes) as Henry Mynors
1985		Doctor Who's Who's Who (1 episode) as Doctor Who

1984

(2 episodes) as Lance Fortescue

1981

(1 episode)

1980		Magnum, P.I. (2 episodes) as Ian MacKerras
1980		Sink or Swim (19 episodes) as Brian Webber
1980		Holding the Fort (20 episodes) as Russell Milburn

1979

(1 episode) as Jeremy Tyler

1978		An Audience with... (1 episode) as Self
1978		All Creatures Great and Small (68 episodes) as Tristan Farnon

1977

(13 episodes) as Tom Holland

1973		Warship (1 episode)
1973		The Tomorrow People (0 episodes) as Elmer

1963

(74 episodes) as The Doctor

Writing

2005

(1 episode) … Screenplay

Directing

2005

(1 episode) … Director