| Year | Title | Role | Notes |
| 1965 | The Wednesday Play | Policeman | Fable |
| United! | Larry Presday | 4 episodes |
| 1967 | Adam Adamant Lives! | Nikibu | Episode: "Face in a Mirror" |
| 1968 | Theatre 625 | Madu | Wind Versus Psychology |
| 1969 | Doctor Who | Harper | Serial: The War Games |
| Hadleigh | Smitty | Episode: M.Y.O.B. |
| On The Buses | George | Episode: The Early Shift |
| 1970 | Diamond Crack Diamond | Henderson | Episode: "Diamonds and Spades" |
| 1971 | Say Hello to Yesterday | Man in A+E | Uncredited |
| 1972 | New Scotland Yard | Henry Buckingham | Episode: "A Case of Prejudice" |
| Spyder's Web | General Limbo | Episode: "The Hafiz Affair" |
| 1972–1976 | Love Thy Neighbour | Bill Reynolds | Main role, 55 episodes |
| 1976 | The Fosters | Andrew Henderson | Episode: "Buy Now, Pay Later" |
| 1978–1979 | Empire Road | Sebastian Moses | 5 episodes |
| 1982 | The Chinese Detective | Terence Villiers | Episode: "Wheels Between Wheels" |
| 1985 | Black Silk | Larry Scott | 8 episodes |
| 1987 | The Lenny Henry Show | Sonny | Episode: "Sonny Sidles Up" |
| 1988 | Dramarama | Raven | Bogeyman |
| 1990 | Mr. Bean | The Invigilator | Episode: "Mr. Bean" |
| 1990–1992 | The Bill | Papa Reeves / Lawrence Joseph / Ivan Wilson | 3 episodes |
| 1991 | For the Greater Good | Dr. Lawrence James | Episode: "Mandarin" |
| Smack and Thistle | Churchill | Television film |
| The Play on One | Kimumwe | Episode: "Escape from Kampala" |
| Bodger and Badger | Mr. Valentino | 3 episodes |
| Pirate Prince | Thomas Newton | Television film |
| 1993 | Lovejoy | Earl Taylor | Episode: "Never Judge a Book by Its Cover" |
| 1994 | Scarlett | Ransom | Television film |
| 1995–1996 | The Thin Blue Line | PC Frank Gladstone | Main role, 14 episodes |
| 1997–2001 | Teletubbies | Male Voice Trumpet (voice)Opening and Closing Narrations (voice) | UK/USA VersionsUSA Version352 episodes |
| 2001 | Doctors | Dennis Fisher | Episode: "Remembering" |
| 2001–present | EastEnders | Patrick Trueman | Series regular |
| 2003–2005 | The Crouches | Grandpa Langley Crouch | 2 series |
| 2010 | EastEnders: E20 | Patrick Trueman | |
| 2012 | Celebrity Antiques Road Trip | Himself (Participant) | |
| 2014 | Invasion 1897 | | |
| 2020 | The Queen Vic Quiz Night | Patrick Trueman | Cameo appearance Charity crossover between Coronation Street and EastEnders |
