Born in Redruth, Cornwall, to Gerald, a solicitor, and his wife, Jeanne (nee Vollar), Peter was the third of seven siblings. His father died when Peter was young, and the family relocated to Brixton, south London, and later Surrey. During this period he showed an early talent for acting in Scout Association Gang Show stage productions, which led to a number of roles in repertory theatre, including Pip in Great Expectations opposite Donald Sutherland.

Hitler's SS: Portrait in Evil
1985 · as Keilbach

Doctor Who: The War Games
1969 · as Du Pont

Blake's 7: Duel
1986 · as Prell

The Beast in the Cellar
1971 · as Roy

Doctor Who: Nightmare of Eden
1979 · as Officer Costa

Doctor Who: The Space Museum
1965 · as Dako

The Secret of Blood Island
1964 · as Red

If There Weren't Any Blacks You'd Have to Invent Them
1968

Quiet Afternoon
1972 · as The Policeman