Along with his film career, Firth has continued to appear in various television productions, with several notable credits in various high-profile dramas. He starred in two science-fiction episodes of the BBC's Play for Today anthology series as the eponymous time-traveller in the romantic The Flipside of Dominick Hide (1980), and its sequel, Another Flip for Dominick (1982). In 1994, in the Fourth Series of Heartbeat, he played Dr. Radcliffe who partnered with Dr. Rowan (Niamh Cusack) in Whitby. He also portrayed the Emperor Vespasian in "The Jewish Revolt" episode of the BBC series Rome: The Rise and Fall of an Empire.