After returning to Australia, she began a degree at Bond University but dropped out at the age of 19 when she was cast in the soap opera Paradise Beach.
After three series of Gladiators, Joseph was eager to return to acting, so took the role of villain Joanne Brennan in Home and Away from 1995 to 1996.
In 1999, she moved to the United States to study acting at the Atlantic Theater Company in New York City, then spent 18 months unsuccessfully auditioning for roles in Los Angeles.
She returned to America after filming All Saints, where she got a small role as flight attendant Cindy Chandler in the pilot episode of Lost.
Away from acting, Joseph has been involved in efforts to highlight the effects of Soviet nuclear testing in Kazakhstan, including directing a short film.
The family travelled extensively in Europe, and Kimberley attended a private school in Montreux, Switzerland, for four years.
[4][5] Joseph gained acting experience and friendships with Raelee Hill, Megan Connolly, and Isla Fisher, though the series was cancelled after only 18 months.
[7] Until 1999, she continued working as a "jobbing actress", making appearances in Hercules: The Legendary Journeys and Sale of the Century, and Tales of the South Seas.
On the day she was due to fly back to Australia, her agent informed her of an audition for the British television series Cold Feet, whose producer was looking for an Australian actress to become a new main cast member.
An early script draft of the pilot called for her character to be seen dead on a beach, though subsequent rewrites removed the scene.
Despite being asked not to change her appearance too much after the pilot, Joseph had her hair cut, so in her first few episodes of the second season she had to "go through the whole debacle of putting a Rambo scarf around [her] head, which just looked ridiculous.
[citation needed] In 2011, Joseph appeared in television commercials for HughesNet, the satellite-based Internet Service Provider.
[15] The 13-minute film, entitled When the Dust Settles, premiered on 12 November 2009 at the Birch Carroll & Coyle cinema in Southport, Queensland.