Brooke began as a stage actor and has played in many London productions, including several years as a member of Frank Dunlop's original Young Vic Company.

He played Malakili the Rancor Keeper in the 1983 Star Wars film Return of the Jedi (his voiced dubbed over by Ernie Fosselius).

He played British Conservative politician Ian Gow in the 2004 BBC series The Alan Clark Diaries.

Other appearances in television dramas and comedies featuring Brooke include The Blackadder, Bertie and Elizabeth, the BBC adaptation of Blott on the Landscape, Lovejoy, Foyle's War, Rab C. Nesbitt, Kavanagh QC, Sharpe's Revenge, Midsomer Murders, Hustle, Covington Cross, The Kit Curran Radio Show, Between the Lines, Relic Hunter and Mornin' Sarge.

He, Linal Haft and Frank Mills are the only actors to appear in both the classic and returning series of Minder, but playing different roles in each.