Daws also appeared as Ernie Rayner in the three-part prequel to Only Fools and Horses, Rock and Chips (BBC).
He played Mike Spicer in Midsomer Murders "Hidden Depths" (2005), and Hamish Rafferty in "The Curse of the Ninth" (2017).
Robert Daws played a recurring role in Robin of Sherwood as King John's herald, Hubert de Guiscarde in the episodes "The Greatest Enemy" and "The Sheriff of Nottingham".
In November and December 2009, he appeared in Public Property by Sam Peter Jackson at the Trafalgar Studios.
From July 2010 to 11 September 2010, Daws appeared as Dr Watson in The Secret of Sherlock Holmes at the Duchess Theatre.
Daws also appeared as Jim Hacker in the West End production of Yes, Prime Minister and the national tour of Blackbird by David Harrower, for which he was nominated for Best Actor in the Manchester Evening News Drama Awards.
He also appeared in the first Classic Comedy Company productions of Ten Times Table and How the Other Half Loves, by Alan Aykbourn.
Since February 2003 he has been married to Amy Robbins (his co-star in The Royal, who played Dr. Jill Weatherill, who later became his screen wife).