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Parkinson studied at the London Academy of Music and Dramatic Art, and has appeared on stage in the plays The Seagull (2007), Cock (2009), and Home, I'm Darling (2018), for which she was nominated for the Olivier Award for Best Actress in a Play.

Parkinson was also a main cast member of the series Doc Martin for three series (2005–2009). She co-starred in all three series of Humans, a science-fiction drama on AMC/Channel 4, which aired from 2015 until 2018. She has also appeared in the films The Boat That Rocked (2009) and The Guernsey Literary and Potato Peel Pie Society (2018).