Filmography60 titles
| Year | Title | Character | Age at release |
|---|---|---|---|
| 2023 | Mike Yarwood: Thank You For The LaughsMovie | Self | 79 |
| 2018 | Franco Zeffirelli: Directing from LifeMovie | Himself | 74 |
| 2012 | Tales of Television CentreMovie | Self | 68 |
| 2011 | Celebrity Antiques Road TripSeries | Self - Participant | 67 |
| 2005 | Colour Me KubrickMovie | Robert | 61 |
| 2005 | Churchill's BodyguardSeries | Self - Narrator (voice) | 61 |
| 2004 | Agatha Christie's MarpleSeries | Dr. Haydock | 60 |
| 1999 | Holby CitySeries | Mark Williams | 55 |
| 1996 | Dalziel and PascoeSeries | Barry Jemmerson | 52 |
| 1993 | The DetectivesSeries | Dave Briggs | 49 |
| 1993 | The Legends of Treasure IslandSeries | Dr. Livesey (voice) | 49 |
| 1992 | Chunuk BairMovie | Sgt. Maj. Frank Smith | 48 |
| 1992 | Il segno del comandoMovie | Prof. Edward Foster | 48 |
| 1992 | The English Civil WarsMovie | Narrator | 48 |
| 1991 | Merlin of the Crystal CaveSeries | Ambrosius | 47 |
| 1991 | Pebble MillSeries | Self | 47 |
| 1990 | Keeping Up AppearancesSeries | Cabbie | 46 |
| 1990 | Canned CarrottSeries | — | 46 |
| 1990 | Romeo.JulietMovie | Romeo (voice) | 46 |
| 1988 | HannaySeries | Richard Hannay | 44 |
| 1987 | Love SinsMovie | Gabriele D'Annunzio | 43 |
| 1986 | Shaka ZuluSeries | Dr. Henry Fynn | 42 |
| 1984 | What Waits BelowMovie | Rupert 'Wolf' Wolfsen | 40 |
| 1984 | The Wandering CompanyMovie | Narrator (voice) | 40 |
| 1984 | FrankensteinMovie | Victor Frankenstein | 40 |
| 1983 | Natural WorldSeries | Narrator | 39 |
| 1983 | The Jigsaw ManMovie | Jamie Fraser | 39 |
| 1982 | CountdownSeries | — | 38 |
| 1982 | The Hunchback of Notre DameMovie | Phoebus | 38 |
| 1981 | The SurvivorMovie | Keller | 37 |
| 1981 | PygmalionMovie | Higgins | 37 |
| 1980 | HarlequinMovie | Gregory Wolfe | 36 |
| 1980 | Walkabout to HollywoodMovie | Narrator (voice) | 36 |
| 1978 | An Audience with...Series | Self | 34 |
| 1978 | The Four FeathersMovie | Jack Durrance | 34 |
| 1977 | Jesus of NazarethSeries | Jesus | 33 |
| 1977 | Beyond Good and EvilMovie | Paul Rée | 33 |
| 1975 | TommyMovie | Captain Walker | 31 |
| 1975 | Looking for ClancySeries | Frank Clancy | 31 |
| 1974 | ZodiacSeries | Brian Godfrey | 30 |
| 1974 | Death to Sister MaryMovie | Rook | 30 |
| 1974 | MahlerMovie | Gustav Mahler | 30 |
| 1973 | ThrillerSeries | Paul Tanner | 29 |
| 1972 | Crown CourtSeries | Lance Porter | 28 |
| 1972 | The EdwardiansSeries | Charles Stewart Rolls | 28 |
| 1972 | AsylumMovie | Dr. Martin | 28 |
| 1972 | The AsphyxMovie | Giles Cunningham | 28 |
| 1972 | ShelleyMovie | Percy Bysshe Shelley | 28 |
| 1971 | Film '72Series | Self | 27 |
| 1971 | Stage 2Series | Frank Gardner | 27 |
| 1970 | DoomwatchSeries | Tobias Wren | 26 |
| 1970 | The Hunting of Lionel CraneMovie | Lionel Crane | 26 |
| 1970 | Season of the WitchMovie | Shaun | 26 |
| 1969 | The Italian JobMovie | Yellow | 25 |
| 1969 | Walk a Crooked PathMovie | — | 25 |
| 1967 | RobberyMovie | Deltic Train Guard (uncredited) | 23 |
| 1967 | City '68Series | Paul Pevney | 23 |
| 1966 | The Hunchback of Notre DameSeries | — | 22 |
| 1965 | BBC Play of the MonthSeries | Valentine | 21 |
| 1951 | Hallmark Hall of FameSeries | Phoebus | 7 |