| Year | Title | Role | Notes | Ref. |
| 1994–1997 | All Quiet on the Preston Front | Kirsty | Series 1–3; 15 episodes | |
| 1997 | The Missing Postman | Harriet | Television film | |
| 1998–2000 | Roger and the Rottentrolls | Kate Beckett (later Princess Kate) | Series 3 & 4; 20 episodes | |
| 2000 | Comin' Atcha! | Pauline | Series 2; Episode 5: "The Day Off" | |
| Casualty | Katie Stoppard | Series 14; Episode 26: "Seize the Night" | |
| Daddyfox | Young Maggie | Television film | |
| 2001 | Doctors | Nita Harmer | Series 2; Episode 110: "Writing to Charlie" | |
| Dalziel and Pascoe | Nichola Crowley | Series 6; Episode 1: "Walls of Silence" | |
| 2002 | Sparkhouse | Older Lisa Bolton | Mini-series; Episodes 2 & 3 | |
| 2003 | The Royal | Carole Green | Series 1; Episode 3: "Coffin Fit" | |
| The Illustrated Mum | Star Westward | Television film | |
| 2003–2005 | Where the Heart Is | Megan Boothe | Main role. Series 7–9; 27 episodes | |
| 2005 | No Angels | Simone | Series 2; Episode 5 | |
| Doctors | Holly Leavis | Series 7; Episode 87: "Indestructible" | |
| Magnificent 7 | Louise Jackson | Television film | |
| 2006 | Johnny and the Bomb | Rose Bushell | Mini-series; Episodes 1–3 | |
| New Street Law | Katie Lewis | Series 1; Episode 1 | |
| 2007 | The Bad Mother's Handbook | Charlotte Cooper | Television film | |
| Waterloo Road | Stacey Appleyard | Series 2; 4 episodes | |
| 2008 | High | Leah Retsam | Series 2; Episode 1: "It's a Kind of Magic" | |
| The Royal Today | Abigail | Episode 3 | |
| Fairy Tales | Leeza Gruff | Mini-series; Episode 4: "Billy Goat" | |
| Dis/Connected | Jenny | Television film | |
| Waking the Dead | Nicola Bennet | Series 7; Episodes 5 & 6: "Duty and Honour: Parts 1 & 2" | |
| Merlin | Sophia | Series 1; Episode 7: "The Gates of Avalon" | |
| 2009 | Demons | Ruby | Mini-series; Episodes 1–6 | |
| Mark's Brilliant Blog | Mary | Television film | |
| Robin Hood | Meg | Series 3; Episode 9: "A Dangerous Deal" | |
| Blue Murder | Jess Burgess | Series 5; Episode 1: "Having It All" | |
| 2010 | Above Suspicion | Sharon Bilkin | Series 2; Episodes 1–3: "The Red Dahlia: Parts 1–3" | |
| Five Daughters | Alice | Mini-series; Episodes 2 & 3 | |
| Stanley Park | Dirty Debbie | Pilot episode | |
| Any Human Heart | Tess Scabius | Mini-series; Episodes 1 & 2 | |
| 2011–2013 | The Borgias | Lucrezia Borgia | Main role. Series 1–3; 29 episodes | |
| 2013 | Bonnie & Clyde | Bonnie Parker | Mini-series; Parts 1 & 2Nominated—Satellite Award for Best Actress – Miniseries or Television FilmNominated—Critics' Choice Television Award for Best Actress in a Movie/Miniseries | |
| 2015 | Lady Chatterley's Lover | Lady Constance Chatterley | Television film | |
| 2017 | Philip K. Dick's Electric Dreams | Honor | Episode 5: "The Hood Maker" | |
| 2017–present | Strike | Robin Ellacott | Main role. Series 1–6; 19 episodes | |
| 2018 | Patrick Melrose | Bridget Watson-Scott / Lady Gravesend | Mini-series; Episodes 2 & 3: "Never Mind" and "Some Hope" | |
| 2019–present | The Capture | DI/DCI Rachel Carey | Series 1 & 2; 12 episodes | |
| 2025 | The Stolen Girl | Rebecca Walsh | Mini-series; Episodes 1–5 | |
