| Year | Title | Role | Notes |
| 1990 | Blood Rights | Virginia | TV Mini-Series, 3 episodes |
| 1991 | The Men's Room | Joanna Carleton | TV Mini-Series, episode:1.4 |
| Drop the Dead Donkey | Octavia | Episode: "The Gulf Report" |
| Casualty | Abby Larwood | Episode: "The Last Word" |
| Clarissa | Anna Howe | TV Mini-Series, 4 episodes |
| 1991–1992 | Spatz | Wendy | 2 episodes |
| 1992 | Screen Two | Caroline | TV series, Episode: “The Count if Solar” |
| 1993 | Agatha Christie's Poirot | Celestine | Episode: "Jewel Robbery at the Grand Metropolitan" |
| Between the Lines | Gail Myles | Episode: "Manslaughter" |
| 1994 | Under the Hammer | Anthea Bovington | Episode: "The Spectre at the Feast" |
| Casualty | Bobbie Croft | Episode: "The Facts of Life" |
| 1997 | Comedy Premieres: Cold Feet | Karen Marsden | Pilot |
| See You Friday | Sophie | 1 series |
| Get Well Soon | Vanessa Del Ray | Episode: "The Whist Drive" |
| Cadfael | Mary | Episode: "The Raven in the Foregate" |
| Hospital! | | Television film |
| Agatha Christie's The Pale Horse | Hermia Redcliffe | Television film |
| 1998 | The Bill | Louise Golding | Episode: "Friends in High Places" |
| Berkeley Square | Victoria St. John | 1 series |
| 1998–2003, 2016–2020 | Cold Feet | Karen Marsden | 9 series |
| 1999 | Peak Practice | Penny | Episode: "New Beginnings" |
| Heartbeat | Diane Palmer | Episode: "David Stockwell's Ghost" |
| 2000 | Killing Time: The Millennium Poem | Millennium Woman | Television film |
| 2002 | Falling Apart | Clare | Television film |
| 2002–2005 | Wire in the Blood | DCI Carol Jordan | 3 series |
| 2003 | Lucky Jim | Carol Goldsmith | Television film |
| 2006 | The Kindness of Strangers | Fiona Charters | Television film |
| 2006–2009 | Spooks | Ros Myers | 4 series |
| 2007–2009 | Kingdom | Beatrice Kingdom | 3 series |
| 2010 | Bouquet of Barbed Wire | Cassie Manson | Television serial |
| 2011 | Outcasts | Stella Isen | 1 series |
| 2012 | A Mother's Son | Rosie | Television serial |
| A Year in the Wild | Narrator | Documentary |
| 2013 | Agatha Christie's Marple | Evelyn Hillingdon | Episode: "A Caribbean Mystery" |
| 2014 | The Crimson Field | Grace Carter | TV series, 6 episodes |
| In the Club | Roanna | 2 series |
| Doctor Who | Lundvik | Episode: "Kill the Moon" |
| Agatha Raisin | Jo Cummings Browne | TV series, episode: “The Quiche of Death” |
| 2018 | Innocent | Alice Moffatt | TV Mini-Series, 4 episodes |
| 2019 | Luther | Dr Vivien Lake | Series 5 |
| 2020 | Between Two Worlds | Cate Walford | |
| 2022 | Doc Martin | Sophie Trent | 2 episodes |
| Riches | Maureen Dawson | |
| 2024 | Silent Witness | CS Sheila Court | 2 episodes |
| 2025 | DNA Journey | Herself | 1 episode with Fay Ripley |
