Waring was born in Mill Hill, London in 1927;[1] his father was the TV pioneer Wing Commander H.J.

[1] He later turned down the offer of a place at St Edmund Hall, Oxford to take up a scholarship with the Royal Academy of Dramatic Art[1] and then went into rep theatre.

[1] In 1969, Waring started playing DI Neil Goss in the police drama Z-Cars and continued in this role for 215 episodes until 1973.

[2] Later in the 1970s, Waring appeared in programmes such as Murder Most English, Crown Court, The New Avengers, Two's Company and George and Mildred.

[6] Waring was a member of the Royal Shakespeare Company and appeared in many productions including War of the Roses.