Since leaving Doctor Who Colin Baker, who was a major TV actor in the 1970s, has continued to act, mainly on the stage. He played the Doctor once again in the 1993 charity special Dimensions in Time. He also played a Doctor-like character in the BBV video series The Stranger, as well as a standalone BBV drama entitled The Airzone Solution, and has reprised the role of the Doctor in a series of audio plays produced by Big Finish Productions. In a poll conducted by Doctor Who Magazine, fans voted Baker the "greatest" of the Doctors in the audio plays.

Later television work during the 1990s included guest appearances in the BBC's medical drama Casualty, Channel 4's adaptation of A Dance to the Music of Time and as himself as the resident celebrity in 'Dictionary Corner' on the daytime quiz show Countdown, also on Channel 4. He appeared in the first episode of Jonathan Creek (1997).

In 1994, Colin Baker became the first (and so far only) Doctor to write a published Doctor Who story, The Age of Chaos, a graphic novel published by Marvel UK featuring the Sixth Doctor and Frobisher. He also guest-starred in the audio drama Sapphire and Steel: The Mystery of the Missing Hour.

Colin has been writing a regular column for his local newspaper, the Bucks Free Press since 1995.

At The Invasion convention in 2007, Baker cited the 2005 Steven Moffat story The Empty Child as the best Doctor Who story ever. Singling out the 'everybody lives' quote as the best dramatic moment in Doctor Who.

Also in 2007 he has co-written a musical for children about the Boldon Colliery in County Durham.

1993 Convention