| Year | Title | Role | Notes |
| 1973 | Shabby Tiger | Toby Scriven | Episode: "A Wife in Water Colours" |
| 1973 | Crown Court | Bernard Crittenden | Episode: "Wise Child" |
| 1974 | The Black Arrow | Roger | 4 episodes |
| 1975 | Upstairs, Downstairs | Peter Dimont | Episode: "Joke Over" |
| Edward the Seventh | Frederick Crichton | 2 episodes |
| Crown Court | Patrick Mills | Episode: "Never on Sundays" |
| Thriller | Ludovic Bates | Episode: "The Next Voice You See" |
| 1976 | The Glittering Prizes | Denis Porson | 3 episodes |
| The Cedar Tree | Rex Burton-Smith | 2 episodes |
| 1977 | Nicholas Nickleby | Nicholas Nickleby | Lead role; all 6 episodes |
| 1978 | Pennies from Heaven | Conrad Baker | Episode: "Down Sunnyside Lane" |
| An Englishman's Castle | Mark Ingram | 3 episodes |
| A Horseman Riding By | Paul Craddock | 12 episodes |
| 1979 | Birth of the Beatles | George Martin | Television film |
| Rumpole of the Bailey | Ronald Ransom | Episode: "Rumpole and the Course of True Love" |
| 1981 | Winston Churchill: The Wilderness Years | Randolph Churchill | All 8 episodes |
| Tales of the Unexpected | Miller | Episode: "Would You Believe It?" |
| 1982 | Nancy Astor | Bobby Shaw | 4 episodes |
| 1983–1990 | Don't Wait Up | Dr. Tom Latimer | All 39 episodes |
| 1984 | Strangers and Brothers | Roy Calvert | 4 episodes |
| 1985 | Star Quality: Bon Voyage | Roddy Buchanan | |
| A Different Kind of Love | Clement | |
| 1986 | Lord Elgin and Some Stones of No Value | Lord Elgin / Tim | |
| 1987 | A Little Princess | Carrisford | 4 episodes |
| The Death of the Heart | Thomas Quayne | |
| Hold the Dream | Jim Fairley | Episode |
| The Charmer | Ralph Ernest Gorse | All 6 episodes |
| 1989 | Naked Under Capricorn | Davy Marriner | |
| 1990 | A Bit of Fry and Laurie | Himself | Episode |
| 1991 | The Private War of Lucinda Smith | Edward | |
| A Slight Hitch | Simon | |
| Sleepers | Jeremy Coward/Sergei Rublev | 4 episodes |
| A Perfect Hero | Hugh Fleming | All 6 episodes |
| 1992–1993 | The Good Guys | Guy McFadyean | All 16 episodes |
| 1994 | Red Eagle | Peter Husak | |
| The Burning Season: The Chico Mendes Story | Steven Kaye | |
| Woof! | Appleby | Episode: "Mr. Wonderful" |
| 1995 | The Glass Virgin | Edmund Lagrange | 2 episodes |
| Chiller | Oliver Halkin | Episode: "Prophecy" |
| Liz: The Elizabeth Taylor Story | Michael Wilding | |
| 1996 | Murder Most Horrid | Harvey Stafford | Episode: "Girl Friday" |
| Strangers | Philip | Episode: "Touch" |
| 1997 | Bridge of Time | Halek | |
| The Heart Surgeon | Dr. Alex Marsden | |
| 1995–1999 | Dangerfield | Dr. Jonathan Paige | 26 episodes |
| 2001 | The Gentleman Thief | A J Raffles | |
| The Armando Iannucci Shows | Ivy Waiter | Episode: "Mortality" |
| 2002–2003 | Manchild | Terry | 15 episodes |
| 2002 | Murder in Mind | Nicholas Chadwick QC | Episode: "Flashback" |
