| 2025 | Doctor Who: Wish World & The Reality War | The Doctor (archive footage) (uncredited) | ★ 3.6 |
| 2024 | Doctor Who at the Proms | The Doctor (6) (archive footage) | ★ 7.0 |
| 2023 | Doctor Who: 60 Years of Secrets & Scandals | Self - archive | ★ 4.7 |
| 2023 | Christmas at the Holly Day Inn | Ben | ★ 6.4 |
| 2023 | Talking Doctor Who | Self / The Doctor (6) (archive footage) | ★ 5.0 |
| 2023 | Buckle Up | Nick | ★ 2.0 |
| 2023 | Secrets of a Wallaby Boy | Bruce (voice) | ★ 0.0 |
| 2022 | The Caller | DS Rawlins (voice) | ★ 4.3 |
| 2021 | The Ghosts of Borley Rectory | Charles Sutton | ★ 4.7 |
| 2021 | No Way Back | Conrad | ★ 6.2 |
| 2019 | Showman: The Life of John Nathan-Turner | Himself | ★ 0.0 |
| 2019 | The Doctor Who Cookbook Revisited | Self | ★ 0.0 |
| 2019 | The Doctors: The Colin Baker Years | | ★ 0.0 |
| 2019 | Doctor Who: The Trial | Self | ★ 0.0 |
| 2018 | Remembering Deborah Watling | Self | ★ 0.0 |
| 2017 | Classic Doctor Who Comic-Con Panel | Self | ★ 0.0 |
| 2016 | Last Man on Earth | Professor James Friedkin | ★ 0.0 |
| 2015 | Doctor Who: Besuch bei River Song | The Doctor (6) (picture) (uncredited) | ★ 8.0 |
| 2015 | A Christmas Carol | Charles Dickens | ★ 4.3 |
| 2015 | A Dozen Summers | The Narrator | ★ 4.3 |
| 2014 | Shadows of a Stranger | William Fallon | ★ 6.0 |
| 2014 | Doctor Who: The Ultimate Companion | Self / The Doctor (archive footage) | ★ 8.1 |
| 2014 | Doctor Who: The Ultimate Time Lord with Peter Davison | Self | ★ 0.0 |
| 2013 | Doctor Who Live: The Afterparty | Self | ★ 9.0 |
| 2013 | The Five(ish) Doctors Reboot | Self | ★ 7.9 |
| 2013 | Doctor Who: Der Tag des Doktors | The Doctor (6) (archive footage) | ★ 8.2 |
| 2013 | Doctor Who: Tales from the TARDIS | Self | ★ 0.0 |
| 2013 | Doctor Who Live: The Next Doctor | Self | ★ 5.0 |
| 2008 | Doctor Who: Der andere Doctor | The Doctor (6) (archive footage) | ★ 7.4 |
| 2008 | Trials and Tribulations | | ★ 0.0 |
| 2008 | The Making of The Trial of a Time Lord | | ★ 0.0 |
| 2008 | Celebration: Doctor Who in 1983 | | ★ 0.0 |
| 2008 | The Ties That Bind Us | The Sixth Doctor / Commander Maxil (archive footage) | ★ 0.0 |
| 2007 | Davros Connections | (archival audio) | ★ 0.0 |
| 2006 | Built for War: The Sontaran Story | | ★ 0.0 |
| 2005 | Doctor Who: A New Dimension | Self | ★ 0.0 |
| 2003 | The Story of Doctor Who | | ★ 0.0 |
| 2002 | Doctor Who: Real Time | The Doctor | ★ 6.0 |
| 2001 | The Home Whovian | | ★ 0.0 |
| 2000 | TravelWise | Jonathan Pike | ★ 0.0 |
| 2000 | The Asylum | Arbuthnot | ★ 5.0 |
| 1999 | Adventures in Space and Time | Himself | ★ 0.0 |
| 1999 | Carnival of Monsters | | ★ 0.0 |
| 1999 | The Waiting Time | Giles Fleming | ★ 5.0 |
| 1999 | Die Abenteuer des jungen Indiana Jones: Die Wüstenteufel | Chauvel | ★ 5.2 |
| 1999 | Die Harfenspielerin | | ★ 7.8 |
| 1999 | Soul's Ark | Galico | ★ 0.0 |
| 1997 | Stranger Than Fiction 3: Acting Up | | ★ 0.0 |
| 1995 | The Doctors: 30 Years of Time Travel and Beyond | | ★ 0.0 |
| 1995 | The Stranger: Eye of the Beholder | The Stranger / Soloman | ★ 9.0 |
| 1995 | Stranger than Fiction 2: From Script to Screen | | ★ 0.0 |
| 1994 | The Stranger: Breach of the Peace | The Stranger / Soloman | ★ 5.0 |
| 1994 | Doctor Who: The Colin Baker Years | Himself | ★ 0.0 |
| 1994 | The Zero Imperative | Peter Russell | ★ 7.0 |
| 1994 | The Stranger: The Terror Game | The Stranger / Soloman | ★ 6.5 |
| 1994 | Stranger than Fiction | | ★ 0.0 |
| 1993 | 30 Years in the TARDIS | Himself | ★ 7.5 |
| 1993 | Doctor Who: Dimensions in Time | The 6th Doctor | ★ 4.4 |
| 1993 | Bigger Inside Than Out | Narrator | ★ 0.0 |
| 1993 | The Airzone Solution | Arnold Davies | ★ 4.9 |
| 1993 | The Stranger: In Memory Alone | The Stranger | ★ 7.0 |
| 1992 | Doctor Who: Cybermen - The Early Years | Host | ★ 0.0 |
| 1992 | The Stranger: More Than a Messiah | The Stranger | ★ 0.0 |
| 1991 | The Stranger: Summoned by Shadows | The Stranger | ★ 6.0 |
| 1990 | Myth Makers 19: Colin Baker | | ★ 0.0 |
| 1990 | The PanoptiCon Tapes V | | ★ 0.0 |
| 1990 | The PanoptiCon Tapes IV | | ★ 0.0 |
| 1990 | The PanoptiCon Tapes III | | ★ 0.0 |
| 1990 | The PanoptiCon Tapes II | | ★ 0.0 |
| 1990 | The PanoptiCon Tapes | | ★ 0.0 |
| 1986 | Doctor Who: The Ultimate Foe | The Doctor | ★ 5.8 |
| 1986 | The PanoptiCon Tapes VI | | ★ 0.0 |
| 1986 | Doctor Who: Terror of the Vervoids | The Doctor | ★ 6.2 |
| 1986 | Doctor Who: Mindwarp | The Doctor | ★ 7.0 |
| 1986 | Doctor Who: The Mysterious Planet | The Doctor | ★ 6.2 |
| 1986 | Who's Who | | ★ 0.0 |
| 1985 | Doctor Who: Revelation of the Daleks | The Doctor | ★ 9.2 |
| 1985 | Doctor Who: Timelash | The Doctor | ★ 3.5 |
| 1985 | Doctor Who: The Two Doctors | The Doctor | ★ 7.4 |
| 1985 | A Fix with Sontarans | The Doctor | ★ 3.0 |
| 1985 | Doctor Who: The Mark of the Rani | The Doctor | ★ 6.0 |
| 1985 | Doctor Who: Vengeance on Varos | The Doctor | ★ 7.3 |
| 1985 | Doctor Who: Attack of the Cybermen | The Doctor | ★ 6.2 |
| 1984 | Doctor Who: The Twin Dilemma | The Doctor | ★ 4.0 |
| 1984 | Doctor Who: Die Höhlen von Androzani | Sixth Doctor | ★ 9.7 |
| 1983 | Doctor Who: Arc of Infinity | Commander Maxil | ★ 8.5 |
| 1981 | Dangerous Davies: The Last Detective | William Lind | ★ 5.9 |
| 1975 | Drive Carefully, Darling | Brain | ★ 0.0 |
| 1972 | The Moonstone | John Herncastle | ★ 8.0 |
