Dennis' first screen appearance was in Snowball in 1960.
This was followed by numerous appearances in Film and TV shows including staring roles in The Sweeney and Minder.
His most recent appearances were in New Tricks (2006) and Back In Business (2006).
He was married to Penny Dixon (1967-1976), the actress, Patricia Maynard (1977-1987), and thereafter to the actress Rula Lenska (1987-1998). He had two daughters by his second wife, including the actress Hannah Waterman.
