| Year | Title | Role | Notes |
| 1991 | The Real McCoy | Various Roles | Unknown episodes |
| 1995 | Porkpie | Sanjay | Episode: "And Lead us not into Temptation" |
| 1996 | Bollywood or Bust | Himself (Host) | |
| 1997 | Captain Butler | Adeel | 6 episodes |
| We Know Where You Live | Various Characters | 12 episodes |
| 1998 | Jonathan Creek | Doctor | Episode: "Black Canary" |
| Light Lunch | Himself | Episode: "Goodness Gracious What a Great Show" |
| Keeping Mum | Ahmed | Episodes: "The Card Game" and "The Morning After" |
| 1998–2015 | Goodness Gracious Me | Various | 21 episodes |
| 1999–2001 | Small Potatoes | Rick Roy | 13 episodes |
| 2001 | We Know Where You Live | | Television film |
| 2001–2006 | The Kumars at No. 42 | Sanjeev Kumar | Lead role53 episodes |
| 2002 | Dalziel and Pascoe | Graham Shah | Episode: "Mens Sana" |
| 2005 | Life Isn't All Ha Ha Hee Hee | Akaash | 3 episodes |
| Chopratown | Vik Chopra | Television film |
| Angell's Hell | John Angell | Television film |
| 2005–2008 | The New Paul O'Grady Show | Himself | 2 episodes |
| 2006 | The Children's Party at the Palace | Robin Hood | Television special |
| 2007–2008 | Mumbai Calling | Kenny Gupta | 8 episodes |
| 2009 | Natural World | Narrator | Documentary seriesEpisode: "Man-eating Tigers of the Sundarbans" |
| 2010 | Grandpa In My Pocket | Rodger Splodger | Episode: "Great Aunt Loretta's Not-So-Great Plan" |
| 2010–2013 | The Indian Doctor | Prem Sharma | 15 episodes |
| 2012 | Silent Witness | Abdul Aziz | Episode: "And Then I Fell in Love" |
| 2014 | Midsomer Murders | Armand Stone | Episode: "The Killings of Copenhagen" |
| The Kumars | Sanjeev Kumar | 6 episodes |
| Doctor Who | Colonel Ahmed | Episode: "Death in Heaven" |
| 2015 | Drunk History | Robert Baden-Powell, 1st Baron Baden-Powell | Episode 1.8 |
| Bollywood and Beyond: A Century of Indian Cinema | Himself (presenter) | Television filmDocumentary |
| Horrible Histories | Various characters | Episode: "Naughty Napoleon Special", "Gorgeous George III", "Tricky Queen Vicky", "Wily Winston Churchill" |
| 2015–present | Unforgotten | DI Sunil "Sunny" Khan | |
| 2016 | Thunderbirds Are Go | Ethan Sullivan (voice) | Episode: "City Under the Sea" |
| 2017 | Horrible Histories | Singing Greek God | Episode: "Monstrous Musicians" |
| 2017–2019 | Porters | Mr Pradeep | 7 episodes |
| 2018–2020 | Thomas & Friends | Shankar (voice) | UK & US versions |
| 2019 | Icons: The Greatest Person of the 20th Century | Category presenter ("Advocate") | 2 episodes, activists category and live final |
| Red Nose Bodyguard | Interviewer | Red Nose Day 2019 special |
| Good Omens | Giles Baddicombe | Episode: "The Very Last Day of the Rest of Their Lives" |
| The Switch | Host | 20 episodes |
| 2020–present | Sandylands | Les Vegas | Television miniseries |
| 2021–present | Secrets of the Transport Museum | Narrator | Documentary series |
| 2022 | The Sandman | Cain | Episode: "Imperfect Hosts" |
| 2025 | Taskmaster | Himself | Contestant; Series 20 |
| TBA | Inspector Singh Investigates | Inspector Singh | |
