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In 2017 Davison appeared in an episode of the third series of Grantchester, playing a cricket-loving solicitor. Davison appeared with Christopher Timothy in the three-part series Vintage Roads Great & Small in 2018. In it the pair travel in vintage cars on three trips from London to Land's End, from Loch Ness to The Isle of Skye and from Cardiff to Snowdonia.

Davison had been lined up to appear in writer/director Daisy Aitkens' first feature-length film You, Me and Him (previously titled Fish Without Bicycles) in late 2016. However, due to a scheduling clash, Davison was forced to pull out of the film. The film stars his son-in-law David Tennant, and is co-produced by Davison's daughter, Georgia.

Davison's autobiography, titled Is There Life Outside the Box?: An Actor Despairs, was published on 6 October 2016.

Davison publicly supported the UK's membership of the European Union in the 2016 EU referendum, describing Brexit supporters as "mad old farts who want to return the country to an age that never existed".

In 2015 he joined the cast of Gypsy in its West End transfer to the Savoy Theatre in London, playing the role of Herbie, alongside Imelda Staunton as Mama Rose. The role was originally played by Kevin Whately during its run in Chichester in 2014.

Davison played the part of Oliver Lucas in David Hare's play The Vertical Hour at the Park Theatre, London between September and October 2014.

In 2013, Davison was asked in an interview about the possibility of a female Doctor, to which he replied: "I have a slight problem with that because it’s not as if genders are interchangeable on Gallifrey... I don’t like the idea of the Doctor having a sex change - it’s not as if you would have a female James Bond." In July 2017, Davison described the casting of Jodie Whittaker as the 13th Doctor as "the loss of a role model for boys who I think Doctor Who is vitally important for". He added: "I feel a bit sad about that, but I understand the argument that you need to open it up." Davison closed his Twitter account following the backlash to his comments, saying the "toxicity" around the series had been "sobering".

In 2012, Davison expressed further interest in returning to the role of the Doctor for the series' 50th anniversary, but he did not take part. He did, however, write and direct The Five(ish) Doctors Reboot, an affectionate and comedic account of Colin Baker, Sylvester McCoy and himself attempting to get parts in the Anniversary Special, featuring cameos from numerous Doctor Who cast, crew, and famous fans.

In November 2010, it was announced that Davison would be joining the regular cast of the UK version of Law and Order as Henry Sharpe, the Director of the London Crown Prosecution Service (CPS). Davison's appeared from the beginning of the series' fifth season, alongside fellow Doctor Who actress Freema Agyeman. He appeared in an episode of the police comedy-drama New Tricks in 2011, and in 2013 he played divorcee Michael in the comedy series Pat and Cabbage, as well as appearing in an episode of the ITV detective series Lewis.

Throughout 2010 and 2011 he appeared as Professor Callahan in the West End production of Legally Blonde, which opened at the Savoy Theatre.

In April 2010, Davison declared his support for the Labour Party at the general election of that year. He was also one of 48 celebrities who signed a letter warning voters against Conservative Party policy towards the BBC.

In January 2009 he appeared in Unforgiven, an ITV1 drama starring Suranne Jones. Davison played John Ingrams, a lawyer who helps Jones' character, Ruth Slater, find her sister after her release from prison. In July 2009, he appeared in an episode of Midsomer Murders, and made a guest appearance as a teacher in Miranda Hart's sitcom, Miranda, in autumn 2009. In October 2009, Davison was seen in a small but memorable role as a bank manager in Micro Men, a drama about the rise of the British home computer market in the late 1970s and early 1980s, and in December 2009, he played Denis Thatcher in The Queen, a docudrama on Channel 4.

Davison has been critical of the original series of Doctor Who and has expressed great admiration for the 21st century revival. In 2008, Davison spoke unfavourably of some of the writing for the series during his tenure, claiming: "There were some very suspect scripts we did, knocked off by TV writers who'd turn their hand to anything. Fair enough, but they weren't science fiction fans. You do get the impression, both with the television series now and Big Finish, that they are fans of science fiction and that's why they are doing those stories." Davison has also praised the sexual frisson between the Doctor and his companions in the revived series and claimed: "They were struggling for many years to make the companions more rounded characters and... they never once thought it was a good idea to put any frisson or sexual tension – even in its most innocent form – between the Doctor and companion. I think it would make it easier to write a better character. All I know is they've struggled for many years to write a good companion's part. I don't think they've ever really managed it till Rose, when the series came back." Interviewed in 2013, Davison stated that The Caves of Androzani, The Visitation and Earthshock were his favourite serials from his time on the series, and that Time-Flight was the biggest disappointment because of a lack of budget.

In 2008 he voiced Simon Draycott in the radio adaptation of The Long Dark Tea-Time of the Soul, and between 2012 and 2013 he played Richard Lyons in the BBC Radio 2 comedy Welcome to Our Village, Please Invade Carefully.

After leaving Doctor Who, Davison returned to the franchise several times. He presented the special videotape documentary release Daleks – The Early Years (1993), showcasing selected episodes of missing Dalek stories from both the First Doctor and Second Doctor's eras. Davison did, in fact, return to play the Fifth Doctor in the 1993 multi-doctor charity special Dimensions in Time and in the 1997 video game Destiny of the Doctors (audio only). He continues to reprise the role in a series of audio plays by Big Finish Productions. He returned once again in "Time Crash", a special episode written by Steven Moffat for Children in Need; in the episode, which aired on 16 November 2007, the Fifth Doctor met the Tenth Doctor, played by Davison's future son-in-law David Tennant. Tennant later presented a documentary, Come in Number Five, which examined Davison's Doctor Who years in some detail, and which was included as a special feature on the 2011 DVD re-release of Resurrection of the Daleks. It is one of many DVD releases of his Doctor Who serials in which Davison has appeared as an in-vision interviewee or in DVD commentary recordings.

Davison starred as Martin Chadwick, one half of an overworked couple coping with two irresponsible daughters and his senile mother at home, in the BBC Two comedy Fear, Stress and Anger in early 2007. The show also starred his daughter Georgia Tennant. Later in 2007, he played Hubert Curtain in an episode of ITV's Agatha Christie's Marple ("At Bertram's Hotel").

Between July 2007 and March 2008, Davison performed as King Arthur in the London production of Spamalot.

He starred as Dangerous Davies in the television series The Last Detective (2003–2007) and as Dr Bill Shore in Distant Shores (2005–2008), both for ITV. In 2006 he appeared as Professor George Huntley in The Complete Guide to Parenting, and appeared as himself in the TV series Hardware.

He played Dr Anthony Webster in the comedy series Rigor Mortis on Radio 4 in 2003 and 2006, and made a guest appearance in the first episode of the second series of the BBC Radio 4 science fiction comedy series Nebulous, broadcast in April 2006,

Davison married his third wife, actress and writer Elizabeth Morton, in 2003. The couple live in Twickenham and have two sons, Louis (born 1999) and Joel (born 2001). They both appeared in The Five(ish) Doctors playing themselves. Louis Moffett made his professional theatrical acting debut aged 14, playing Prince Edward in the 2014 Trafalgar Studios stage production of Richard III, credited as Louis Davison, having adopted his father's stage name as his own. His brother Joel also made his theatrical debut aged 13 in the summer of 2014, playing Jack in The Widowing of Mrs Holroyd at the Orange Tree Theatre, Richmond. Louis Davison plays the part of Victor in Tim Burton's film, Miss Peregrine's Home for Peculiar Children released in 2016, and Joel Davison played Lord Heybrook in French Without Tears at The Orange Tree Theatre, Richmond. Louis has appeared as Parker Whitfield in BBC One's Holby City.

It was not until 2000 that Davison returned in another major role, that of David Braithwaite in At Home with the Braithwaites. During convention appearances in 2013, Davison cited this as his favourite among the roles he has played. Also in 2000, he appeared in the recurring role of Inspector Christmas in several episodes of Diana Rigg's Mrs Bradley Mysteries. The first episode, Death at the Opera, saw Davison appear with his future son-in-law (and future Doctor Who actor), David Tennant.

Since 1999, he has reprised his role as the Fifth Doctor in numerous Doctor Who audio dramas for Big Finish Productions.

He appeared as Amos Hart in Chicago at the Adelphi Theatre in 1999, and played Dr Jean-Pierre Moulineaux, in Under the Doctor at the Churchill Theatre, Bromley and later at the Comedy Theatre, London in 2001.

He guest starred in the sixth episode of the crime drama Jonathan Creek in 1998 as the son-in-law of a horror writer who was shot dead on Halloween. The following year he played the outgoing head teacher in the television series Hope and Glory, and appeared in Parting Shots, the last film to be directed by Michael Winner.

Davison presented Heavenly Bodies a six-part series about astronomy broadcast on BBC1 in 1995. This led to him being featured on the cover of Practical Astronomy magazine.

In 1994 he provided the voice of Mole in The Wind in the Willows animated special Mole's Christmas. He also appeared as a doctor in Heartbeat episode "A Bird in the Hand", and played Squire Gordon in the 1994 film of Black Beauty.

Davison reprised his role as Tristan Farnon in four more series of All Creatures Great and Small between 1988 and 1990, although he was absent from 24 episodes of the final three to play the lead in Campion, a series based on the period whodunnits of Margery Allingham. He appeared in the sitcoms Fiddlers Three for ITV in 1991, and Ain't Misbehavin' in 1993 and 1995. He played Jim Huxtable in the 1993 TV movie Harnessing Peacocks, based on the novel by Mary Wesley

Davison played Dr Stephen Daker, the central character in A Very Peculiar Practice (1986–88). Written by Andrew Davies, it concerns a university's health centre; Daker is the centre's only effective physician. The black comedy-drama ran for two series and had a sequel with A Very Polish Practice in 1992, a television film largely set in a post-communist Polish hospital. In 1986 he appeared as Lance Fortescue in an episode of the BBC's Miss Marple ("A Pocketful of Rye").

Davison has appeared in several radio series, including the BBC Radio 4 comedy drama series King Street Junior in 1985. Davison played teacher Eric Brown, however, he left after two series and was replaced by Karl Howman (as Philip Sims). In 1995 he appeared in Change at Oglethorpe, and the following year he played Richard Stubbs in a six-part comedy called Minor Adjustment.

The couple have a daughter, Georgia Tennant, born in 1984. Davison and Dickinson divorced in 1994. Davison also has two sons, Louis born 1999, and Joel born 2001, by actress and writer Elizabeth Morton.

After Davison left Doctor Who in 1984, he immediately landed a role in Anna of the Five Towns, a period drama. In 1985, he appeared in an All Creatures Great and Small Christmas special, and a feature-length episode of the American show Magnum, P.I. ("Deja Vu"), set in the UK.

Davison has also worked on the stage. In 1984, he appeared in Neil Simon's Barefoot in the Park at the Apollo Theatre alongside his then wife, Sandra Dickinson. In 1991, he appeared in Arsenic and Old Lace at the Chichester Festival Theatre. Further theatre appearances during the 1990s include: The Last Yankee, by Arthur Miller at the Young Vic Theatre and later the Duke of York's Theatre, London in 1993, and Vatelin in An Absolute Turkey, by Georges Feydeau, at the Gielgud Theatre in 1994. In 1996 he played the role of Tony Wendice in the theatrical production of Dial M for Murder, and in 1997 he played Buttons in the pantomime Cinderella in the Arts Theatre in Cambridge.

Davison lent his name to be used to endorse two science-fiction anthology books published by Hutchinson: Peter Davison's Book of Alien Monsters released in 1982 and Peter Davison's Book of Alien Planets released in 1983.

Davison and his wife composed and performed the theme tunes to Button Moon, a children's programme broadcast in the 1980s, and Mixed Blessings, a sit-com broadcast on ITV in 1978. Davison subsequently appeared alongside Dickinson as the Dish of the Day in the television version of The Hitchhiker's Guide to the Galaxy in 1981. The producers considered it humorous for an actor known for playing a veterinary surgeon to appear as a cow.

Davison has also appeared in several British sitcoms, including Holding the Fort (1980–82) and Sink or Swim (1980–82), as well as appearing in dramatic roles.

In 1980, Davison signed a contract to play the Doctor for three years, succeeding Tom Baker (the Fourth Doctor) and, at age 29, was at the time the youngest actor to have played the lead role, a record he retained for nearly thirty years until Matt Smith (the Eleventh Doctor) took the role in 2009 at age 26. Attracting such a high-profile actor as Davison was as much of a coup for the programme's producers as getting the role was for him, but he did not renew his contract because he feared being typecast. Patrick Troughton (who had played the Second Doctor and whom Davison had watched on the programme as a teenager) had recommended to Davison that he leave the role after three years, and Davison followed his advice. The Fifth Doctor encountered many of the Doctor's best-known adversaries, including the Daleks (in Resurrection of the Daleks) and the Cybermen (in Earthshock).

His first television work was a 1975 episode of the children's science fiction television programme The Tomorrow People, alongside American actress Sandra Dickinson, whom he married on 26 December 1978. Davison portrayed an alien named "Elmer", who arrives on Earth along with his sister (played by Dickinson) and his mother, known as "the Mama" (played by Margaret Burton).

In 1978, Davison's performance as the youthfully mischievous Tristan Farnon in All Creatures Great and Small made him a household name. "I don't know how much it changed my life. It creeps up on you really. You become used to it quickly, I think. I wasn't aware of it suddenly changing my life, although I had a bit more money to spend on rubbish. I bought a house, but the money was rubbish because I was a BBC newcomer, though nobody's money was very good, except probably Robert Hardy's. I remember after the third series I bought a car, which was a Renault 18. I thought it was pretty flash, and I went to this garage to fill up with petrol, and the guy said, 'Aren't you that bloke off the vet series?' I said yes I was, and he said, 'Why are you driving that piece of shit?'"

In 1978 he married American-British actress Sandra Dickinson. They divorced in 1994. Davison's daughter from his second marriage is actress Georgia Tennant (née Moffett) (1984). In December 2011 Georgia married actor David Tennant, who played the Tenth Doctor.

In 1976, he was offered a prominent role in the 13-segment TV miniseries Love for Lydia opposite a young Jeremy Irons; the series was broadcast on ITV the following year.

In 1973, aged 21, Davison married Diane Russell. They divorced two years later.

Davison has been married three times. His 1973 marriage to Diane J. Russell ended with divorce in 1975.

In the mid-1970s, during a lull in his acting career, Davison spent 18 months working in a tax office in Twickenham.

Peter Davison (born Peter Malcolm Gordon Moffett; 13 April 1951) is an English actor with many credits in television dramas and sitcoms. He became famous as Tristan Farnon in the BBC's television adaptation of James Herriot's All Creatures Great and Small stories. His subsequent starring roles included the sitcoms Holding the Fort and Sink or Swim, the fifth incarnation of the Doctor in Doctor Who, Dr. Stephen Daker in A Very Peculiar Practice and Albert Campion in Campion. He also played David Braithwaite in At Home with the Braithwaites, "Dangerous" Davies in The Last Detective and Henry Sharpe in Law & Order: UK.