| Year | Title | Role | Notes |
| 1978 | Out of the Past | | 2 episodes |
| 1979 | Shoestring | Bobby Treen | Episode: "The Partnership" |
| 1980 | BBC2 Playhouse | Bob Smith | Episode: "The Dig" |
| Fair Stood the Wind for France | Lancaster crew | Mini-series; Episode |
| Angels | Norman Pollard | 3 episodes |
| Juliet Bravo | PC Chris Evans | Episode: "Coming Back" |
| Strangers | Michael Hobb | Episode: "Retribution" |
| 1981 | Coronation Street | Kevin | 2 episodes |
| 1983 | Shackleton | Jameson Adams | Mini-series; Episode: "Our Dead Bodies Must Tell the Tale" |
| 1983–2004 | Auf Wiedersehen, Pet | Neville Hope | Main role |
| 1985 | Miss Marple | Detective Sergeant Fletcher | 3 episodes: "A Murder is Announced" |
| 1987 | Carrott Confidential | Himself | Episode |
| Alas Smith & Jones | | Episode: "Sunday Film: The Sword of St. Petersburg" |
| 1987–2000 | Inspector Morse | Detective Sergeant Robert Lewis | Main role |
| 1988 | Geordie Racer | Ray Hilton | 10 episodes |
| You Must Be the Husband | Hugo Mansell | Episode: "A Bit Prickly in the Morning" |
| 1990 | Screenplay | Neil Baldwin | Episode: "Night Voice" |
| 1991 | Jackanory | Storyteller | 3 episodes: "Bill's New Frock: Parts 1, 2 & 3" |
| Aspel & Company | Himself | Episode |
| 1992 | B&B | Steve Shepherd | Mini-series |
| 1993–1995 | Peak Practice | Dr. Jack Kerruish | Regular character |
| 1994 | Screen Two | Sam Hopkins | Episode: "Skallagrigg" |
| Q.E.D. | Narrator | Episode: "Food Fights" |
| An Audience with Ken Dodd | Himself | Uncredited Audience Member |
| 1996 | Trip Trap | Ian Armstrong | Television film |
| 1997 | Songs of Praise | Himself | 1 episode |
| Gobble | Colin Worsfold | Television film |
| Light Lunch | Himself | Episode: "Ooh Doctor, I Feel a Bit Peaky" |
| 1997–1998 | The Broker's Man | James 'Jimmy' Griffin | Lead role |
| 1999 | The People's Passion | Judas | Television special |
| Pure Wickedness | Geoff Meadows | Main role, 4 episodes |
| What Katy Did | Dr. Philip Carr | Television film |
| 1999–2003 | Hilltop Hospital | Dr. Matthews | Voice role; regular character |
| 2001 | Murder in Mind | Nigel Liddy | Episode: "Neighbours" |
| Merseybeat | Philip Kitchener | 2 episodes: "Crying Out Loud" & "What Goes Around" |
| 2002 | John Thaw: An Appreciation | Himself | Short television special |
| The BAFTA TV Awards 2002 | Himself | Television special |
| Plain Jane | David Bruce | Television film |
| Silent Cry | Dr. Richard Herd | Television film |
| The John Thaw Story | Himself | Television special documentary |
| Lads' Army | Narrator | 10 episodes |
| 2003 | Little Wolf's Book of Badness | Akela | Voice role; short television film |
| Comic Relief 2003: The Big Hair Do | Neville Hope | Television special |
| Bible Mysteries | Narrator | Episode: "David and Goliath" |
| Promoted to Glory | Maj. Nigel Hurst | Television film |
| 2003–2005 | GMTV | Himself | 3 episodes |
| 2004 | Richard & Judy | Himself | 1 episode |
| The Legend of the Tamworth Two | Wolf | Television film |
| Who Wants to Be a Millionaire | Himself | 1 episode |