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His first fiction book, On a Wing and a Prayer, was published in 2006.

Bensley also appeared in the long-running television series Water Rats about the Sydney Harbour Water Police Squad, in which he had the major role of Chief Inspector Jeff Hawker. Bensley was a member of the cast of Water Rats for the entire series (1996–2001).

In 1983, he played the title role of Stanley in the film Stanley; Every Home Should Have One. In 1992, Bensley appeared as Dr. John Austin in the Australian mini-series The New Adventures of Black Beauty. In 1995, he appeared in the Australian/New Zealand co-production Mirror, Mirror, as "Andrew Teigan", father of "Jo Teigan".

In the 1980s, Bensley appeared as a nude centrefold in the magazine, Cleo, wearing only strategically placed scuba gear; and also featured in a cheeky advertisement for Palmolive Gold, in which he is seen in bed with fellow The Young Doctors actress Judy McBurney, and semi-naked in a shower.

Bensley went on to appear in several Grundy Television soap operas including The Restless Years in 1979; The Young Doctors, in which he played Dr. Mike Newman from 1980 until the show finished in 1982; Prisoner, in which he played one of the three male prisoners, Matt Delaney, for 34 episodes in 1984; Neighbours as guest character Tony Chapman in 1986; and Home and Away from 1988 to 1990 as school teacher Andrew Foley In 2009, he returned to Neighbours for a two-episode guest role as Dean Naughton.

Peter Bensley (born 6 February 1954, Warialda, New South Wales) is an Australian actor.