| Year | Title | Role | Notes |
| 1981 | Bergerac | Annie | TV series, season 1, episode 10: "The Hood and the Harlequin" |
| 1983 | The Mike Walsh Show | Guest - Herself | TV series, 1 episode |
| 1984 | Waterfront | Anna Cheri | TV miniseries, 3 episodes |
| 1995 | Good Morning Australia | Guest | TV series, 1 episode |
| Denton | Guest | TV series, 1 episode |
| Ernie and Denise | Guest | TV series, 1 episode |
| Midday | Guest | TV series, 1 episode |
| 1997 | The Odyssey | Penelope | TV miniseriesNominated—Satellite Award for Best Actress – Miniseries or Television Film |
| 2001 | The Farm | Liz Cooper | TV miniseries, 4 episodes |
| 2002 | Daniel Deronda | Lydia Glasher | TV series |
| 2005 | Il Commissario Maigret | | Italian TV production |
| Two Twisted | Dr Adele Partridge | TV series, episode: Heart Attack |
| 2006 | Broken Trail | Nola Johns | TV miniseriesNominated—Primetime Emmy Award for Outstanding Supporting Actress in a Miniseries or a MovieNominated—Screen Actors Guild Award for Outstanding Performance by a Female Actor in a Miniseries or Television Movie |
| Agatha Christie's Marple | Tuppence Beresford | TV series, episode: "By the Pricking of My Thumbs" |
| Two Twisted | Adele Partridge | TV series |
| Nightmares & Dreamscapes: From the Stories of Stephen King | Katie Arlen | TV miniseries, episode: "Autopsy Room Four" |
| 2008 | The Trojan Horse | Helen Madigan | TV miniseries, 2 episodes |
| 2013 | Agatha Christie's Poirot | Mrs Burton-Cox | TV series, episode: "Elephants Can Remember" |
| Masterpieces Unveiled | Presenter | TV documentary series, 8 episodes |
| 2015 | The Bible Continues | Mother Mary | TV series, 4 episodes |
| 2016 | War & Peace | Countess Rostova | TV series, 6 episodes |
| 2017 | Versailles | Madeleine de Foix | TV series, season 2 |
| The Terror | Lady Jane Franklin | TV series (based on the Dan Simmons novel of the same name) |
| 2022-present | Darby & Joan | Joan Kirkhope | TV series |
| 2023 | Bodies | Polly Harker | TV limited series, 8 episodes |