Phelps is also known for his roles in the internationally successful Australian series Sons and Daughters and Stingers and has appeared in feature films including Blackwater Trail with Judd Nelson.

Phelps began his acting career in the early 1980s with an ongoing role in the Network Ten teen soap opera The Restless Years produced by the Reg Grundy Organisation.

From 1989–1990, he was one of the lifeguards (Trevor Cole) in the first season of Baywatch, and had a minor role in the film Point Break.

Phelps also played a recurring role as doctor Doug "Spence" Spencer on the medical drama, All Saints starting 4 October 2005.

He appeared in two television dramas — Underbelly: A Tale of Two Cities playing detective inspector Joe Messina; and as Vince Marchello (Station Co-ordinator) in Rescue: Special Ops.