TV/Video
| Year | Show name | Episode Name | Character Name |
| 1974 | Warship | One of Those Days | Constable Munk |
| 1975 | The Tomorrow People | A Man for Emily | Elmer |
| 1977 | Love for Lydia | Tom Holland | |
| 1978 | All Creatures Great and Small | Tristan Farnon | |
| 1980 | Holding the Fort | Russell Milburn | |
| Sink or Swim | Brian Webber | ||
| 1981 | The Hitch Hikers Guide to the Galaxy | Dish of the Day | |
| Doctor Who | The Doctor | ||
| 1985 | Fox Tales | Narrator/Several characters | |
| Anna of the Five Towns | Henry Mynors | ||
| Agatha Christie's Miss Marple | A Pocket Full of Rye | Lance Fortescue | |
| Magnum, P.I | Deju vu | Ian Mackerras | |
| 1986 | A Very Peculiar Practice | Dr. Stephen Daker | |
| 1988 | Tales of the Unexpected | Wink Three Times | Jeremy Tyler |
| 1989 | Campion | Albert Campion | |
| 1990 | Kinsey | Bob Stacey | |
| 1991 | Fiddlers Three | Ralph West | |
| 1992 | Harnessing Peacocks | Jim Huxtable | |
| A Very Polish Practice | Dr. Stephen Daker | ||
| 1993 | The Airzone Solution | Al Dunbar | |
| Doctor Who | Dimensions in Time | The Doctor | |
| 1994 | P.R.O.B.E. | The Zero Imperative | Patient One (uncredited) |
| Mole's Christmas | Mole | ||
| Ain't Misbehavin' | Clive Quigley | ||
| 1995 | Molly | Mr. Greenfield | |
| The Adventures of Mole | Mole | ||
| P.R.O.B.E. | The Devil of Winterborne | Gavin Purcell | |
| 1996 | P.R.O.B.E. | Ghosts of Winterborne | Gavin Purcell |
| Cuts | Henry Babbacombe | ||
| 1997 | Dear Nobody | Mr. Garton | |
| 1998 | Jonathan Creek | Danse Macabre | Reverend Stephen Claithorne |
| The Stalker's Apprentice | Detective Inspector Maurice Birt | ||
| Verdict | Be My Valentine | Michael Naylor | |
| Wuthering Heights | Joseph Lockwood | ||
| 1999 | Hope and Glory | Episode 1, Series 1 | Neil Bruce |
| The Nearly
Complete and Utter History
of Everything |
Ferdinand Magellan | ||
| 2000 | The Mrs Bradley Mysteries | Inspector Christmas | |
| At Home with the Braithwaites | David Braithwaite | ||
| 2003 | Too Good to Be True | Robert Lewis | |
| The Last Detective | DC 'Dangerous' Davies | ||
| 2004 | Hardware | Celebrity | Himself |
| 2005 | Distant Shores | Bill Shore | |
| 2006 | The Complete Guide to Parenting | George Hartley | |
| 2007 | Marple | At Bertram's Hotel | Hubert Curtain |
| Fear, Stress and Anger | Martin Chadwick | ||
| Doctor Who | Time Crash | The Doctor | |
| 2009 | Unforgiven | John Ingram | |
| Al Murray's Multiple Personality Disorder | Series 1, Episode 6 | Nazi Doctor | |
| Midsomer Murders | Secrets and Spies | Nicky Frazer | |
| Micro Men | Bank Manager | ||
| Miranda | Teacher | Mr Clayton | |
| Films | |||
| Year | Film Name | Character Name | |
| 1994 | A Man You Don't Meet Every Day | Charlotte's husband | |
| Black Beauty | Squire Gordon | ||
| 1999 | Parting Shots | John Fraser |