| Movie | 2010 | Mystery of the Hope Diamond | | |
| Movie | 2015 | Britain's Tudor Treasure: A Night at Hampton Court | Herself - Presenter | |
| Movie | 2015 | Lucy Worsley's Reins of Power: The Art of Horse Dancing | Herself - Presenter | |
| Movie | 2016 | The Real Versailles | Presenter | |
| Movie | 2012 | Food in England: The Lost World of Dorothy Hartley | Presenter | |
| Movie | 2013 | Tales from the Royal Bedchamber | Herself - Presenter | |
| Movie | 2014 | Tales from the Royal Wardrobe | Herself - Presenter | |
| Movie | 2016 | Lucy Worsley: Mozart's London Odyssey | | |
| Movie | 2018 | Suffragettes, with Lucy Worsley | Herself - Host | |
| Movie | 2018 | Lucy Worsley's Fireworks for a Tudor Queen | Self - Presenter | |
| Movie | 2017 | Jane Austen: Behind Closed Doors | Herself - Presenter | |
| Movie | 2011 | The Toys That Made Christmas | Self - Chief Curator, Historic Royal Palaces | |
| Movie | 2018 | Victoria & Albert: The Royal Wedding | Herself - Presenter | |
| Movie | 2013 | Fit to Rule: How Royal Illness Changed History | | |
| Movie | 2017 | Lucy Worsley: Elizabeth I's Battle for God's Music | Self - Presenter | |
| Movie | 2015 | Dancing Through the Blitz: Blackpool's Big Band Story | Herself - Presenter | |
| Movie | 2019 | Queen Victoria: My Musical Britain | Self - Presenter | |
| Movie | 2019 | Lucy Worsley's Christmas Carol Odyssey | Self - Presenter | |
| Movie | 2019 | A Merry Tudor Christmas with Lucy Worsley | Herself - Presenter | |
| Movie | 2020 | Lucy Worsley's Royal Photo Album | Self - Presenter | |
| Movie | 2020 | Lucy Worsley's Royal Palace Secrets | Self - Presenter | |
| Movie | 2021 | Blitz Spirit with Lucy Worsley | Herself - Presenter | |
| Movie | 2015 | Cake Bakers & Trouble Makers: Lucy Worsley's 100 Years of the WI | Presenter | |
| Movie | 2008 | Inside the Body of Henry VIII | Self | |
| TV Show | 2012 | Antiques Uncovered | Self - Presenter | 3 |
| TV Show | 2014 | The First Georgians: The German Kings Who Made Britain | Self - Presenter | 3 |
| TV Show | 2014 | Dancing Cheek to Cheek: An Intimate History of Dance | Self - Presenter | 3 |
| TV Show | 2007 | Would I Lie to You? | Self | 1 |
| TV Show | 2023 | Puzzling | Self | 13 |
| TV Show | 2013 | Fit to Rule: How Royal Illness Changed History | Self - Presenter | 3 |
| TV Show | 2016 | Six Wives with Lucy Worsley | Self - Presenter / Various | 3 |
| TV Show | 2012 | Harlots, Housewives and Heroines: A 17th Century History for Girls | Self - Presenter | 3 |
| TV Show | 2013 | A Very British Murder with Lucy Worsley | Self - Presenter | 3 |
| TV Show | 2015 | A Very British Romance with Lucy Worsley | Self - Presenter | 3 |
| TV Show | 2023 | Killing Sherlock: Lucy Worsley on the Case of Conan Doyle | Self - Host | 3 |
| TV Show | 2011 | If Walls Could Talk: The History of the Home | Herself - Presenter | 4 |
| TV Show | 2017 | Lucy Worsley's Nights at the Opera | Herself - Presenter | 2 |
| TV Show | 2022 | Lucy Worsley Investigates | Self - Presenter | 8 |
| TV Show | 2016 | Empire of the Tsars: Romanov Russia with Lucy Worsley | Self - Presenter | 3 |
| TV Show | 2013 | Secret Knowledge | Self - Presenter | 1 |
| TV Show | 2018 | Royal Wedding Watch | Herself - Historian | 5 |
| TV Show | 2020 | Michael McIntyre's The Wheel | Self - Expert | 1 |
| TV Show | 2022 | Agatha Christie: Lucy Worsley on the Mystery Queen | Self - Presenter | 3 |
| TV Show | 2020 | Rebuilding Notre-Dame | Self - Presenter | 1 |
| TV Show | 2011 | Elegance and Decadence: The Age of the Regency | Self - Presenter | 3 |
| TV Show | 2020 | Lucy Worsley's Royal Myths & Secrets | Self - Presenter | 6 |
| TV Show | 2017 | British History's Biggest Fibs with Lucy Worsley | Self - Presenter | 3 |
| TV Show | 2020 | Royal History's Biggest Fibs with Lucy Worsley | Self - Presenter | 6 |
| TV Show | 2019 | American History's Biggest Fibs with Lucy Worsley | Self - Presenter | 3 |
