| 2021 | Nick & Caroline: Uncut! | |
| 2021 | Doctor Who: The Web of Fear - Episode 3 | Colonel Lethbridge-Stewart (voice) |
| 2017 | The Doctors: The Jon Pertwee Years | |
| 2015 | Longleat '83: The Lost Footage | |
| 2013 | A Dandy and a Clown: The Life of Jon Pertwee | (archive footage) |
| 2011 | Tomorrow's Times: The First Doctor | Self (voice) |
| 2008 | Celebration: Doctor Who in 1983 | |
| 2008 | The Ties That Bind Us | Brigadier Lethbridge-Stewart (archive footage) |
| 2008 | Five Doctors, One Studio | |
| 2008 | Incendiary | Archbishop of Canterbury |
| 2007 | Rogue Time Lords | |
| 2003 | The Story of Doctor Who | |
| 2002 | Doctor Who: Death Comes to Time | The Brigadier |
| 2002 | Chronotrip | |
| 2002 | Doctor at Sea | |
| 2001 | ReUNITed at Chicago Tardis | |
| 2000 | TravelWise | Alistair Singleton |
| 1998 | Lust in Space | Time Judge / self |
| 1998 | Where on Earth Is Katy Manning? | |
| 1997 | Who is Tom Baker? | |
| 1995 | The Doctors: 30 Years of Time Travel and Beyond | |
| 1995 | Downtime | Brigadier Alistair Gordon Lethbridge-Stewart |
| 1993 | UNIT Recruiting Film | Brigadier Lethbridge-Stewart (voice) |
| 1993 | 30 Years in the TARDIS | Himself / Narrator |
| 1993 | Doctor Who: Dimensions in Time | The Brigadier |
| 1993 | Missing in Action | Self - Narrator |
| 1993 | Return to Devil's End | Self |
| 1992 | Born Kicking | Tim Ayling |
| 1991 | The Corridor Sketch | Sir Horace |
| 1990 | Bullseye! | Sir Hugh |
| 1990 | The PanoptiCon Tapes III | |
| 1989 | Doctor Who: Battlefield | Brigadier Lethbridge-Stewart |
| 1988 | Wartime | Brigadier Lethbridge-Stewart (voice) |
| 1987 | Myth Runner | Himself |
| 1984 | Doctor Who: Resurrection of the Daleks | The Brigadier (archive footage) (uncredited) |
| 1984 | To Catch a King | de Oliveira |
| 1983 | Doctor Who: The Five Doctors | Brigadier Lethbridge-Stewart |
| 1983 | Doctor Who: Mawdryn Undead | Brigadier Alistair Gordon Lethbridge-Stewart |
| 1981 | Doctor Who: Logopolis | Brigadier Lethbridge-Stewart (archive footage) |
| 1975 | Doctor Who: Terror of the Zygons | Brigadier Lethbridge-Stewart |
| 1975 | Doctor Who: Robot | Brigadier Lethbridge-Stewart |
| 1974 | Doctor Who: Planet of the Spiders | Brigadier Lethbridge-Stewart |
| 1974 | Doctor Who: Invasion of the Dinosaurs | Brigadier Lethbridge-Stewart |
| 1974 | Soft Beds, Hard Battles | French Intelligence Officer |
| 1974 | Doctor Who: The Time Warrior | Brigadier Lethbridge-Stewart |
| 1973 | Doctor Who: The Green Death | Brigadier Lethbridge-Stewart |
| 1973 | Doctor Who: The Three Doctors | Brigadier Lethbridge-Stewart |
| 1972 | Endless Night | Second Auctioneer (uncredited) |
| 1972 | Doctor Who: The Time Monster | Brigadier Lethbridge-Stewart |
| 1972 | Doctor Who: Day of the Daleks | Brigadier Lethbridge-Stewart |
| 1971 | Doctor Who: The Dæmons | Brigadier Lethbridge-Stewart |
| 1971 | Doctor Who: Colony in Space | Brigadier Lethbridge-Stewart |
| 1971 | Doctor Who: The Claws of Axos | Brigadier Lethbridge-Stewart |
| 1971 | Doctor Who: The Mind of Evil | Brigadier Lethbridge-Stewart |
| 1971 | Doctor Who: Terror of the Autons | Brigadier Lethbridge-Stewart |
| 1970 | Take a Girl Like You | Panel Chairman |
| 1970 | Doctor Who: Inferno | Brigadier Lethbridge-Stewart / Brigade Leader Lethbridge-Stewart |
| 1970 | Doctor Who: The Ambassadors of Death | Brigadier Lethbridge-Stewart |
| 1970 | Doctor Who and the Silurians | Brigadier Lethbridge-Stewart |
| 1970 | Doctor Who: Spearhead from Space | Brigadier Lethbridge-Stewart |
| 1969 | Doppelgänger | Data Analyst |
| 1968 | Doctor Who: The Invasion | Brigadier Lethbridge-Stewart |
| 1968 | Doctor Who: The Web of Fear | Colonel Lethbridge-Stewart |
| 1966 | The Brides of Fu Manchu | Sergeant |
| 1965 | The End of Arthur's Marriage | Husband |
| 1965 | Doctor Who: The Daleks' Master Plan | Bret Vyon |
