| Year | Title | Role | Notes |
| 1994–1995 | Sloggers | Scooby | 7 episodes |
| 1995 | Heartbeat | Eddie Tinniswood | Episode: "Vigilante" |
| Elidor | Morris Dancer's Son | 2 episodes: "#1.1" and "#1.4" |
| 1998 | The Ward | Robbie | Episode: "#10.11" |
| 1998–2010 | The Royle Family | Antony Royle | Main role. 22 episodes |
| 1999 | Coronation Street | Mark Stranks | 3 episodes |
| City Central | Dave | Episode: "Life, Liberty and Pursuit" |
| Bostock's Cup | Norman Lewis | Television film |
| The Flint Street Nativity | Clive Cattle / Star of Bethlehem | Television film |
| Heartbeat | Julian | Episode: "Fire and Ashes" |
| 2000 | Monkey Trousers | Various characters | |
| Always and Everyone | Frankie | 2 episodes: "Outbreak" and "The Darkest Corners" |
| Aladdin | Wishee Washee | Television film |
| 2000–2020 | Soccer AM | Himself | 7 episodes |
| 2001 | The Bill | Tommy Lawson | 3 episodes |
| Is Harry on the Boat? | Trevor | Television film |
| 2001–2006 | Two Pints of Lager and a Packet of Crisps | Jonny Keogh | Main role. 55 episodes |
| 2002 | North Face | Paul | Television short film |
| The Ralf Little Show | Himself - Presenter | 17 episodes |
| 2002–2003 | Paradise Heights / The Eustace Bros. | Richard Eustace | Main role. 12 episodes |
| 2004 | The Comic Side of 7 Days | Narrator | |
| 2006 | Brief Encounters | Simon | Mini-series. Episode: "Small Things" |
| 2007 | Heartbeat | Stephen Lansbury | Episode: "Seeds of Destruction" |
| KateModern | Gavin Taylore | |
| Robin Hood | Joseph | Episode: "The Angel of Death" |
| 2008 | Last Man Standing | Narrator | 10 episodes |
| Massive | Danny Stewart | 6 episodes |
| Marple | Sergeant Pickford | Episode: "A Pocketful of Rye" |
| 2008–2019 | Monkey Life | Narrator | 200 episodes |
| 2010 | Married Single Other | Clint | 6 episodes |
| 2011 | Little Crackers | Colin Smith | Episode: "Sheridan Smith's Little Cracker: The Daltons" |
| 2011–2013 | The Café | Richard Dickens | Main role. 13 episodes |
| 2013 | Death in Paradise | Will Teague | Episode: "A Dash of Sunshine" |
| 2014 | Our Zoo | Billy Atkinson | Mini-series. 6 episodes |
| First Dates | Narrator | 8 episodes |
| 2015 | Drunk History | 'Colonel' Thomas Blood | Episode: "Blackbeard / Colonel Blood / Henry VIII" |
| The Interceptor | Alex | Mini-series. Episode: "#1.6" |
| Lewis | Sean Wilkinson | 2 episodes: "One for Sorrow: Parts 1 & 2" |
| 2016 | The Girl Whisperer | Sam | 3 episodes |
| Midsomer Murders | Jared Horton | Episode: "Saints and Sinners" |
| Hoff the Record | Barman | Episode: "Wedding" |
| 2016–2017 | Borderline | Narrator / Barry the Plumber | Main role. 12 episodes |
| 2016–2020 | The A Word | Stuart | 4 episodes |
| 2017 | We Have Been Watching | Himself | 5 episodes |
| Doctor Who | Steadfast | Episode: "Smile" |
| 2018–2022 | Our Yorkshire Farm | Narrator | 32 episodes |
| 2020 | Inside No. 9 | Phil | Episode: "The Referee's a W***er" |
| Ricky & Ralf's Very Northern Road Trip | Himself | 6 episodes |
| 2020–2024 | Death in Paradise | DI Neville Parker | Main role. 39 episodes (as of 24 March 2024) |
