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Beginning his career on stage, he made his film debut as Philip II of France in the 1968 historical drama The Lion in Winter. He took roles in the period films Wuthering Heights (1970), Cromwell (1970), and Mary, Queen of Scots (1971). Dalton also appeared in the films Flash Gordon (1980), The Rocketeer (1991), Looney Tunes: Back in Action (2003), Hot Fuzz (2007) and The Tourist (2010).

On television, Dalton played Mr. Rochester in the BBC serial Jane Eyre (1983), Rhett Butler in the CBS miniseries Scarlett (1994), Rassilon in the BBC One sci-fi series Doctor Who (2009–2010), Sir Malcolm Murray on the Showtime horror drama Penny Dreadful (2014–2016), and the Chief on the DC Universe / HBO Max superhero series Doom Patrol (2019–2021). He portrayed Peter Townsend in the fifth season of The Crown.