| 2023 | Vermeer: The Greatest Exhibition | Narrator |
| 2022 | A Midsummer Night's Dream | Oberon |
| Dodger Special: Christmas | William Lamb |
| 2021 | Anything Goes | Moonface Martin |
| 2019 | Tiên Hắc Ám 2 | King John |
| 2018 | Rembrandt: From the National Gallery, London and Rijksmuseum, Amsterdam | Narrator |
| 2017 | Movie Musical Greats with Hugh Jackman | — |
| 2016 | The Marvellous World of Roald Dahl | Self |
| 2015 | The Impressionists: And the Man Who Made Them | — |
| 2014 | Grace of Monaco | Aristotle Onassis |
| 2013 | Richard Wilson - Both Feet In the Army | (archive footage) |
| 2007 | The 50 Greatest Television Dramas | Self |
| The Trial of Tony Blair | Tony Blair |
| 2005 | Gideon's Daughter | Sneath |
| A Very Social Secretary | Tony Blair |
| Friends & Crocodiles | William Sneath |
| 2004 | Broadway's Lost Treasures II | Bill Snibson (segment "Me and My Girl") |
| Wimbledon | Ian Frazier |
| Brambly Hedge: Classic Collection | Narrator (Voice) |
| 2003 | Hornblower: Duty | Admiral Sir Edward Pellew |
| Hornblower: Loyalty | Admiral Sir Edward Pellew |
| 2001 | Hawkins | Luke Hawkins |
| Hornblower: Retribution | Sir Edward Pellew |
| Hornblower: Mutiny | Sir Edward Pellew |
| 2000 | Victoria Wood with All the Trimmings | Various Characters |
| Babies at 50 | Narrator |
| Jack the Ripper: An On-Going Mystery | Narrator |
| Trouble at the Big Top: Death of the Dome | Narrator |
| 1999 | Hornblower: The Frogs and the Lobsters | Sir Edward Pellew |
| Hornblower: The Duchess and the Devil | Captain Pellew |
| 1998 | Hornblower: The Examination for Lieutenant | Sir Edward Pellew |
| Hornblower: The Even Chance | Captain Sir Edward Pellew |
| Divorcing Jack | Michael Brinn |
| 1997 | Fierce Creatures | Sydney Lotterby |
| Remember Me? | Jamie |
| 1996 | Brambly Hedge: Autumn Story: Primrose's Stormy Night | Narrator |
| Brazen Hussies | Billy Bowman |
| The Office | Norman Platt |
| 1994 | Trouble at the Top: Nightmare at Canary Wharf | Narrator |
| 1993 | Genghis Cohn | Otto Schatz, Commissioner of Police |
| 1992 | The Job | Narrator (voice) |
| 1990 | Strike It Rich | Bertram |
| 1989 | Bert Rigby, You're a Fool | Bert Rigby |
| Bosses From Hell | — |
| Communicators From Hell | — |
| Employees From Hell | — |
| Teams from Hell | — |
| Sales People from Hell | — |
| Colleagues From Hell | — |
| 1984 | Give Us a Break: Hustle Bustle Toil and Muscle | Mickey Noades |
| Much Ado About Nothing | Benedick |
| Royal Variety Performance 1984 | — |
| 1983 | Cymbeline | Iachimo |
| King Lear | Edmund |
| 1981 | A Midsummer Night's Dream | Lysander |
| All's Well That Ends Well | First French Lord |
| The Best of the Adventures | Tom (archive footage) (uncredited) |
| 1980 | Twelfth Night | Fabian |
| 1976 | Adventures of a Taxi Driver | Tom |
| 1975 | Three for All | Tom |
| The Crazy Kill | Policeman at Roadblock |
| 1973 | That'll Be The Day | Terry Sutcliffe |