Television
Hancock's first big television role was as Carole Taylor in the BBC sitcom The Rag Trade in the early 1960s. She also played the lead roles in the sitcoms The Bed-Sit Girl, Mr Digby Darling and Now Take My Wife. Her other television credits include Doctor Who (playing a parody of Margaret Thatcher in The Happiness Patrol), Kavanagh QC (opposite her husband, John Thaw), Gone to the Dogs, Brighton Belles, EastEnders, The Russian Bride, Bedtime, Fortysomething, Feather Boy, Bleak House, New Tricks, Hustle and The Catherine Tate Show. In 2008, she played the part of a terminally ill patient who travelled to Switzerland for an assisted suicide in one of The Last Word monologues for the BBC, in a role that was written especially for her by Hugo Blick. In 2009, she played Liz in The Rain Has Stopped, the first episode of the BBC anthology series Moving On.
Hancock has also presented several documentaries. In 2010, she presented Suffragette City (part of A History of the World series), telling the story of the suffragette movement through objects from the Museum of London's collection. In 2011, she presented Sheila Hancock Brushes Up: The Art of Watercolours, exploring the history of watercolour via beautiful yet little-known works of professional and amateur artists. In 2013 she presented, as part of the ITV Perspectives documentary series, Perspectives: Sheila Hancock – The Brilliant Brontë Sisters, examining the writers' upbringing and the sources of their inspiration.
In December 2012, Hancock took part in a Christmas special edition of the BBC programme Strictly Come Dancing.
In January 2016, Hancock made a guest appearance in an episode of the BBC medical drama Casualty for its 30th anniversary. From December 2016 until its conclusion in January 2019, she starred alongside Dawn French, Emilia Fox and Iain Glen in all three seasons of the Sky One comedy drama series Delicious.
In January 2017, Hancock made a guest appearance in an episode of the Inspector Morse prequel Endeavour alongside her stepdaughter Abigail Thaw.
In 2020, Hancock co-presented Great Canal Journeys for Channel 4 with Gyles Brandreth, with whom she had previously appeared on Celebrity Gogglebox. In 2021, she appeared in more Great Canal Journeys as well as the Sky One fantasy drama A Discovery of Witches as Goody Alsop, and as Eileen in ITV's Unforgotten.
In 2023, Hancock played Liz Zettl in the BBC true-life crime drama miniseries The Sixth Commandment.