| Year | Title | Role | Notes |
| 1952 | The Infinite Shoeblack | | Televised play on the BBC |
| 1956 | ITV Television Playhouse | Christine | Episode: "Woman in a Dressing Gown" |
| 1958 | Omnibus | Mimi in La bohème | Episode: "What Makes Opera Grand?" |
| 1959 | The Third Man | Helene | Episode: "The Angry Young Man" |
| The Moon and Sixpence | Ata | TV film |
| The Twilight Zone | Alicia | Episode: "The Lonely" |
| 1961 | Danger Man | Kim Russell | Episode: "Name, Date, Place" |
| The Magical World of Disney | Andrienne | Episode: The Horsemasters |
| 1962 | Heart to Heart (The Largest Theatre in the World) | Peggy Mann | TV play |
| 1963–64 | ITV Play of the Week | Dorothy Lemonade/Margo Robertson | 2 episodes |
| 1964 | The Edgar Wallace Mystery Theater | Grace | Episode: "Face of a Stranger" |
| 1964–68 | The Saint | Various | 4 episodes |
| 1965 | Doctor Who | Joanna | Serial: The Crusade |
| 1965 | ITV Sunday Night Drama | Sheila | Episode: "Suspense Hour: Curtains for Sheila" |
| 1965–66 | Gideon C.I.D. | Elspeth McCrae/Sandra Casey | 2 episodes |
| 1965–66 | Doctor Who | Sara Kingdom | Serial: The Daleks' Master Plan |
| 1966–67 | The Informer | Sylvia Parish | 17 episodes |
| 1967 | I Spy | Katherine Faulkner | Episode: "The War Lord" |
| Adam Adamant Lives! | Lady Lydia | Episode: "Face in a Mirror" |
| 1968 | Detective | Julie Oliver | Episode: "The Deadly Climate" |
| The Wednesday Play | Edna | Episode: "A Bit of Crucixion, Father" |
| Thirty-Minute Theatre | Alex | Episode: "Cross Examine" |
| 1969 | The Expert | Sybil Houghton | Episode: "The Yellow Torrish" |
| Department S | Agatha Pollen | Episode: "The Perfect Operation" |
| The Root of All Evil? | Anabel | Episode: "What's in It For Me?" |
| 1970 | UFO | Janna | Episode: "Exposed" |
| 1970–72 | ITV Saturday Night Theatre | Mrs. Philpott/Jenny | 2 episodes |
| 1971 | The Persuaders! | Nicola | Episode: "Five Miles to Midnight" |
| Play for Today | Madeline Walsh | Episode: "Skin Deep" |
| 1971–75 | Upstairs, Downstairs | Rose Buck | 54 episodes, also co-creator |
| 1972 | The Befrienders | Miranda Rawling | Episode: "Nobody Understands Miranda" |
| 1973 | The Rivals of Sherlock Holmes | Mrs. Vanrenen | Episode: "The Looting of the Specie Room" |
| 1976 | Camera Three | | Episode: "Mad About the Boy: A Noel Coward Celebration" |
| 1977 | The Waltons | Hilary Von Kleist | Episode: "The Hiding Place" |
| 1978 | Hawaii Five-O | Sister Harmony | Episode: "The Miracle Man" |
| 1981 | See China and Die | Sally Hackman | TV film |
| Trapper John, M.D. | Claire Browning | Episode: "Earthquake" |
| Goliath Awaits | Dr. Goldman | Miniseries; 2 episodes |
| 1982–83 | 9 to 5 | Roz Keith | Series regular |
| 1983 | The Love Boat | Ceilia Hoffman | Episode: "Japan Cruise" |
| 1984 | Master of the Game | Mrs. Talley | Miniseries; 1 episode |
| 1985 | The Corsican Brothers | Mazzere | TV film |
| Tales from the Darkside | Joan Matlin | Episode: "Answer Me" |
| 1989 | Danny, the Champion of the World | Miss Hunter | TV film |
| Act of Will | Eliza Crowther | Miniseries; 1 episode |
| Doctor Who | Morgaine | Serial: Battlefield |
| 1991–94 | The House of Eliott | | Co-creator |
| 1992 | Screen One | Lisbeth Bede | Episode: "Adam Bede" |
| 1993 | Murder, She Wrote | Glenda Highsmith | Episode: "Murder in White" |
