| Year | Title | Role | Notes |
| 1984 | Juliet Bravo | Oliver | Guest appearance – 1 episode, series 5; "No Peace" |
| Hammer House of Mystery and Suspense | Policeman | Guest appearance – 1 episode; "Paint Me a Murder" |
| Ellis Island | Sean | Miniseries – 1 episode |
| 1985 | Roll Over Beethoven | Youth | Guest appearance – 1 episode |
| Travellers by Night | Flick | Miniseries – 2 episodes |
| 1986 | Eyes | Trevor | Guest appearance – 1 episode; series 2 |
| 1987 | Pulaski | Tarquin Taylor | Guest appearance – 1 episode: "The Price of Fame" |
| 1987–1995 | Boon | Rocky Cassidy | Recurring role – 74 episodes |
| 1988 | Gentlemen and Players | Terry | 1 episode; "Stags at Bay" |
| Crossbow | Peter | aka William Tell. 1 episode; "Masterplan" |
| 1992 | Cluedo | Gordon Ferrar | Guest appearance – 1 episode; series 3 |
| 1992–1999 | Men Behaving Badly | Tony Smart | Leading role – 38 episodes |
| 1993 | Comedy Playhouse | Danny | Guest appearance – 1 episode; "Stuck on You" |
| The Smell of Reeves and Mortimer | Ozzy Osbourne / Himself | Guest appearance – 1 episode; "Food and Drink" |
| A Woman's Guide to Adultery | David | 3 episodes |
| 1993–1997 | Noel's House Party | Sammy the Chamois (pron. "shammy") / Himself | 8 episodes |
| 1994 | Paris | Rochet | 6 episodes |
| 1995 | The Morph Files | Narrator | Recurring role – 25 episodes (voice only) |
| 1996–1997 | Soul Music | Mort | Recurring role – 7 episodes (voice only) |
| 1997 | Morph TV with Tony Hart | Narrator for the Morph segments | Recurring role (voice only) |
| 1997–1998 | The Enchanted World of Brambly Hedge | Wilfred Toadflax | 2 episodes (voice only) |
| 1999–2011 | Bob the Builder | Bob (UK)/ Roley (UK)/ Lofty (UK)/ Farmer Pickles (UK) | Leading role – 250 regular episodes (voice only/theme song singer) |
| 1998 | The Vanishing Man | Nick Cameron | Recurring role – 6 episodes |
| 1999 | Maisy | Narrator (UK version) | 3 episodes (voice only) |
| The Comedy Trail: A Shaggy Dog Story | Tony Smart | TV Special |
| 2001 | Look and Read | Zzaap | Guest appearance – 1 episode (voice only) |
| 2002–2003 | Paradise Heights / The Eustace Bros. | Charlie Eustace | Recurring role – 6 episodes |
| 2003 | Murder in Mind | Stephen Kite | Guest appearance – 1 episode; series 3 |
| 2004 | Unsolved History | Narrator | Guest appearance – 1 episode; "Aztecs: Temple of Blood" |
| Bob the Builder: Bob's Mini Projects | Bob (UK) / Roley (UK) / Micky Picker (UK) / Lofty (UK) | 17 shorts (voice only) |
| 2004–2005 | Carrie & Barry | Barry | Recurring role – 12 episodes |
| 2005 | Bob the Builder: Bob's Big Plan | Bob (UK)/ Lofty (UK)/ Roley (UK)/ Scruffty (UK/US) | Special episode (voice only) |
| Bob the Builder: When Bob Became a Builder | Bob (UK)/ Lofty (UK)/ Roley (UK)/ Farmer Pickles (UK) | Direct-to-video special episode (voice only) |
| 2006 | Petrolheads | Host | 6 episodes |
| 2007 | Skins | Marcus Ainsworth | Guest appearance – 1 episode; series 1 |
| Neighbours | Vicar | Guest appearance – 1 episode; "Births, Deaths and Marriages" |
| Bob the Builder: Scrambler to the Rescue | Bob (UK)/ Lofty (UK)/ Roley (UK)/ Farmer Pickles (UK)/ Angelo Sabatini (UK) | Direct-to-video special episode (voice only) |
| 2007–2009 | Waterloo Road | Eddie Lawson | Recurring role – 40 episodes |
| 2010–2011 | The Cat in the Hat Knows a Lot About That! | Aurillia / Elmore / Gary | 11 episodes (voice only) |
| 2011 | Inspector George Gently | Tony Hexton | Guest appearance – 1 episode; series 4 |
| 2012 | Me and Mrs. Jones | Jason | 6 episodes |
| 2012–2016 | Line of Duty | DC Nigel Morton | 9 episodes |
| 2013 | Skins Pure | Marcus Ainsworth | 2 episodes |
| 2014 | Comedy Playhouse | Jez | Guest appearance – 1 episode; "Over to Bill" |
| Men Behaving Badly | Tony Smart | Stand Up to Cancer & Feeling Nuts Comedy Night Special |
| 2015 | The Dumping Ground | Keith | Guest appearance – 1 episode; series 3 |
| Death in Paradise | Disco Biscuit / Duncan Roberts | Guest appearance – 1 episode; series 4 |
| 2016 | Grantchester | Harding Redmond | Guest appearance – 5 episodes; series 2 |
| Bear Grylls: Mission Survive | Himself - Participant | Guest appearance – 1 episode; series 2 |