- The Long Call
2021 Dennis Stephenson
- 6 Days
2017 John Dellow
- Strike
2017 Tony Landry
- Playhouse Presents
2012 Piers Hunt
- Operation Jericho
2011 Presenter
- Dam Busters Declassified
2010 Himself
- Apparitions
2008 Father Jacob
- Inspector George Gently
2008 George Gently
- Lemur Island
2007
- Cranford
2007 Peter Jenkyns
- Davina
2006
- The Murder Room
2005 Adam Dalgliesh
- The Murder Room
2004 Adam Dalgliesh
- 100 Years of Powered Flight
2003 Narrator
- Death in Holy Orders
2003 Commander Adam Dalgliesh
- Judge John Deed
2001 Judge John Deed
- The Scarlet Pimpernel
1999 Citizen Chauvelin
- Always and Everyone
1999 Robert Kingsford
- Rhodes
1996 Cecil John Rhodes
- The Life and Loves of Oscar Wilde
1995 Oscar Wilde (voice)
- Black and Blue
1992 Chief Supt. Mike Barclay
- For the Greater Good
1991 Peter Balliol MP
- Ladder of Swords
1990 Don DeMarco
- Who Bombed Birmingham?
1990 Ian McBride
- The Chief
1990 Chief Constable Alan Cade
- Agatha Christie's Poirot
1989 Sir Charles Cartwright
- Screen One
1989 Chief Supt. Mike Barclay
- Intrigue
1988 Roskov
- The Most Dangerous Man in the World
1988 Suleiman
- The Last Place on Earth
1985 Captain R. F. Scott
- Facelift
1984 Zax
- The Explorers
1984 Burke
- The Hound of the Baskervilles
1983 Sir Henry Baskerville
- Dalgliesh
1983 Adam Dalgliesh
- East Lynne
1982 Archibald Carlyle
- Cream in My Coffee
1980 Jack Butcher
- Our Kid
1977 Paul
- The Professionals
1977 Doyle
- BBC2 Play of the Week
1977 Michael J. Arlen
- Jubilee 1977
1977 Paul
- Beasts: Buddyboy
1976 Dave
- Beasts
1976 Dave
- The New Avengers
1976 Larry
- The Duchess of Duke Street
1976 Arthur Leyton
- Operation: Daybreak
1975 Karel Curda
- Love's Labour's Lost
1975 King Ferdinand
- Electra
1974 Orestes
- The Golden Voyage of Sinbad
1973 Rachid
- Achilles Heel
1973 Dave Irwin
- Villains
1972 Monty Parkin
- Macbeth
1971 Banquo
- Hamlet
1970 Horatio
- Play for Today
1970 Brian
- Two Feet Off the Ground
1969 Norm
- Strange Report
1969 Savi
- ITV Saturday Night Theatre
1969 Norm
- Son of the City
1967 George Leese
- Travelling Light
1967 Arnold Champion
- City '68
1967 Andy Blake
- Public Eye
1965
- BBC Play of the Month
1965 Orestes
- Coronation Street
1960 Robert Croft
- Hallmark Hall of Fame
1951 Horatio
- Commando
Narrator
