| 2025 | A Christmas Carol - A Filmed Radio Play Live on Stage | Jacob Marley |
| 2025 | Worlds Within: The Life of Ian Marter | Self |
| 2025 | Doctor Who: Wish World & The Reality War | Doctor Who (archive footage) (uncredited) |
| 2024 | Doctor Who at the Proms | The Doctor (4) (archive footage) |
| 2024 | Doctor Who: The Legend of Ruby Sunday & Empire of Death | The Doctor (archive footage) (uncredited) |
| 2024 | Darkness & Light: The Life of Graham Williams | Self |
| 2024 | Doctor Who: Leela vs. The Time War | The Doctor (archive footage) |
| 2023 | Talking Doctor Who | Self / The Doctor (4) (archive footage) |
| 2021 | Return to Skaro | |
| 2021 | Titans of Destruction: The Evolution of Giant Monster Movies | Self (archive footage) |
| 2021 | Panopticon Destiny – The Matrix Files | |
| 2020 | Our Sarah Jane: The Life of Elisabeth Sladen | Self |
| 2020 | Behind the Sofa - Season 14 | |
| 2020 | The Big Night In | Self |
| 2019 | The Magnificent Obsession of Michael Reeves | Himself |
| 2019 | Geek, and You Shall Find | The Doctor (archive footage) |
| 2019 | Hanging by a Thread: The Making of Logopolis | Self |
| 2018 | Doctor Who: Galactic Glitter | Narrator |
| 2018 | Tom Baker in Conversation | |
| 2017 | Doctor Who: Shada | The Doctor |
| 2017 | The Doctors: The Tom Baker Years | |
| 2017 | Panopticon Genesis | |
| 2015 | Doctor Who: The Husbands of River Song | The Doctor (4) (picture) (uncredited) |
| 2015 | Little Britain Sketch | Narrator |
| 2014 | Doctor Who: The Ultimate Companion | Self / The Doctor (archive footage) |
| 2013 | Doctor Who Live: The Afterparty | Self |
| 2013 | The Five(ish) Doctors Reboot | The Doctor (archive footage) |
| 2013 | Doctor Who: The Day of the Doctor | The Doctor (4)/ The Curator |
| 2013 | Doctor Who: Tales from the TARDIS | Self |
| 2013 | Saving Santa | Santa (voice) |
| 2013 | Doctor Who at the Proms | The Doctor (4) (archive footage) (uncredited) |
| 2012 | The Sandmine Murders | |
| 2011 | My Sarah Jane: A Tribute to Elisabeth Sladen | Self (archive footage) |
| 2010 | The Tin Men and the Witch | |
| 2008 | Doctor Who: The Next Doctor | The Doctor (4) (archive footage) |
| 2008 | Max Bear & The Lucky Charm | Max Bear (voice) |
| 2008 | Blackadder's Most Cunning Moments | Self - Captain Rum (archive footage) (uncredited) |
| 2008 | Now, Get Out of That | |
| 2008 | Celebration: Doctor Who in 1983 | (archival footage) |
| 2008 | The Ties That Bind Us | The Fourth Doctor (archive footage) |
| 2007 | A Darker Side: The Making of Planet of Evil | |
| 2007 | A Matter of Time | |
| 2007 | Family Guy Presents: Blue Harvest | The Doctor (archive footage) |
| 2007 | Are Friends Electric? | |
| 2007 | A New Body at Last | |
| 2007 | The Crowded TARDIS | |
| 2006 | It Started with Swap Shop | Self (voice) |
| 2006 | The Wind in the Willows | Judge |
| 2006 | Little Britain Live | Narrator (Voice) |
| 2006 | Paranormal Pigeons | Self |
| 2006 | Global Haywire | Narrator (voice) |
| 2006 | Changing Time: Living and Leaving Doctor Who | |
| 2006 | A History of Flight | Narrator (voice) |
| 2005 | Tom Baker’s Beyond Belief! | |
| 2005 | Doctor Who: A New Dimension | Self |
| 2005 | The Magic Roundabout | Zeebad (voice) |
| 2004 | The Little Reindeer | Santa Claus (voice) |
| 2004 | A New Beginning | (archive footage) |
| 2004 | The History Channel Presents: The Race To The Moon | Narrator |
| 2003 | The Story of Doctor Who | |
| 2001 | Longleat '83: The Greatest Show in the Galaxy | Himself (archive footage) |
| 2001 | The Home Whovian | |
| 2000 | Dungeons & Dragons | Halvarth |
| 1999 | The Millennium Oak | Narrator |
| 1999 | Ray Harryhausen: Working with Dinosaurs | Self - Narrator (voice) |
| 1999 | Adventures in Space and Time | Himself |
| 1999 | Carnival of Monsters | |
| 1998 | Backtime | Sarge (voice) |
| 1997 | Who is Tom Baker? | |
| 1997 | A Sci Fi Audience with Tom Baker | Self |
| 1994 | The Traveller Comes to Maidstone | The Traveller |
| 1993 | 30 Years in the TARDIS | Himself (archive footage) |
| 1993 | Doctor Who: Dimensions in Time | The 4th Doctor |
| 1993 | Selling Hitler | Manfred Fischer |
| 1992 | Doctor Who: The Tom Baker Years | Himself |
| 1992 | Doctor Who: Shada | The Doctor / Narrator |
| 1992 | The Law Lord | Sir Lionel Sweeting |
| 1991 | Who on Earth Is... Tom Baker | Himself |
| 1990 | The Chronicles of Narnia: The Silver Chair | Puddleglum |
| 1990 | Hyperland | Tom |
| 1990 | Ray Harryhausen: Movement Into Life | Narrator |
| 1989 | The Wolves of Willoughby Chase | Narrator (voice) (uncredited) |
| 1989 | Christian | |
| 1989 | Babcock Transformers | Narrator |
| 1986 | Who's Who | |
| 1985 | Enemy Mine | Narrator (voice) |
| 1984 | The Zany Adventures of Robin Hood | Sir Guy de Gisbourne |
| 1984 | Doctor Who: Resurrection of the Daleks | The Doctor (4) (archive footage) (uncredited) |
| 1984 | The Passionate Pilgrim | The Lord |
| 1983 | Doctor Who: The Five Doctors | The Fourth Doctor (archive footage) |
| 1983 | Doctor Who: Mawdryn Undead | The Doctor (4) (archive footage) |
| 1983 | Into Another Dimension | Narrator |
| 1982 | Doctor Who: Earthshock | The Doctor (4) (archive footage) |
| 1982 | Doctor Who: Castrovalva | The Doctor (archive footage) |
| 1981 | Doctor Who: Logopolis | The Doctor |
| 1981 | Doctor Who: The Keeper of Traken | The Doctor |
| 1981 | Doctor Who: Warriors' Gate | The Doctor |
| 1980 | Doctor Who: State of Decay | The Doctor |
| 1980 | Doctor Who: Full Circle | The Doctor |
| 1980 | Doctor Who: Meglos | The Doctor / Meglos |
| 1980 | Doctor Who: The Leisure Hive | The Doctor |
| 1980 | The Curse of King Tut's Tomb | Hasan |
| 1980 | Doctor Who: The Horns of Nimon | The Doctor |
| 1979 | Doctor Who: Nightmare of Eden | The Doctor |
| 1979 | Doctor Who: The Creature from the Pit | The Doctor |
| 1979 | Doctor Who: City of Death | The Doctor |
| 1979 | Doctor Who: Destiny of the Daleks | The Doctor |
| 1979 | Doctor Who: The Armageddon Factor | The Doctor |
| 1979 | Doctor Who: The Power of Kroll | The Doctor |
| 1979 | Dr. Who For Keep Australia Beautiful | The Doctor |
| 1978 | Merry Christmas Doctor Who | The Doctor |
| 1978 | Doctor Who: The Androids of Tara | The Doctor |
| 1978 | Doctor Who: The Stones of Blood | The Doctor |
| 1978 | Doctor Who: The Pirate Planet | The Doctor |
| 1978 | Doctor Who: The Ribos Operation | The Doctor |
| 1978 | Doctor Who: The Invasion of Time | The Doctor |
| 1978 | Doctor Who: Underworld | The Doctor |
| 1977 | Doctor Who: The Sun Makers | The Doctor |
| 1977 | Doctor Who: Image of the Fendahl | The Doctor |
| 1977 | Doctor Who: The Invisible Enemy | The Doctor |
| 1977 | Doctor Who: Horror of Fang Rock | The Doctor |
| 1977 | Whose Doctor Who | |
| 1977 | Doctor Who: The Talons of Weng-Chiang | The Doctor |
| 1977 | Doctor Who: The Robots of Death | The Doctor |
| 1977 | Doctor Who: The Face of Evil | The Doctor / Xoanon |
| 1976 | Doctor Who: The Deadly Assassin | The Doctor |
| 1976 | Doctor Who: The Hand of Fear | The Doctor |
| 1976 | Doctor Who: The Masque of Mandragora | The Doctor |
| 1976 | The Author of Beltraffio | Mark Ambient |
| 1976 | Doctor Who: The Seeds of Doom | The Doctor |
| 1976 | Doctor Who: The Brain of Morbius | The Doctor |
| 1975 | Doctor Who: The Android Invasion | The Doctor |
| 1975 | Doctor Who: Pyramids of Mars | The Doctor |
| 1975 | Doctor Who: Planet of Evil | The Doctor |
| 1975 | Doctor Who: Terror of the Zygons | The Doctor |
| 1975 | Doctor Who: Revenge of the Cybermen | Doctor Who |
| 1975 | Doctor Who: Genesis of the Daleks | The Doctor |
| 1975 | Doctor Who: The Sontaran Experiment | The Doctor |
| 1975 | Doctor Who: The Ark in Space | The Doctor |
| 1975 | Doctor Who: Robot | The Doctor |
| 1974 | Frankenstein: The True Story | Sea Captain |
| 1974 | Doctor Who: Planet of the Spiders | The Doctor |
| 1974 | The Mutations | Lynch |
| 1974 | Luther | Pope Leo X |
| 1973 | The Golden Voyage of Sinbad | Prince Koura |
| 1973 | The Vault of Horror | Moore (segment 5 "Drawn and Quartered") |
| 1973 | Dear Parents | Karl |
| 1972 | The Millionairess | Dr. Ahmed el Kabir |
| 1972 | The Canterbury Tales | Jenkin |
| 1971 | Nicholas and Alexandra | Rasputin |
| 1968 | The Winter's Tale | |
