His father played Detective Chief Superintendent Tom Lockhart in the 1960s series No Hiding Place. His mother played Jira, Anakin Skywalker's friend, in Star Wars: Episode I – The Phantom Menace in 1999.
His first television role was playing Tommy Traddles opposite Ian McKellen in the 1966 production of Charles Dickens' David Copperfield.
Francis considers his part as Mr. Sloane in the ITV Playhouse production of Entertaining Mr Sloane in 1968 as his first important television role, appearing alongside the likes of Sheila Hancock and Edward Woodward. He states on his website that the production was taped just a week after the murder of Playwright Joe Orton.
Francis played the character of Willoughby in the BBC's 1971 production of Sense and Sensibility. In the BBC's popular first adaptation of Poldark (1975–76), he brought to life Ross Poldark's weak, troubled and debt-ridden cousin Francis. Francis delivered a credible and creditable performance of this emotionally deep character.
He played Det. Sgt. Dexter in New Scotland Yard in 1974.
In 1981, Francis played the Roman officer and imperial spy Attius in the ABC miniseries Masada opposite Peter O'Toole.
In 1986, Francis guest starred in episode five, "The Man with the Twisted Lip," of the series Sherlock Holmes, as Neville St Clair.
He is also a noted caricaturist and has had several exhibitions at the National Theatre. His caricatures have appeared on the covers of several books including Blessings in Disguise by Alec Guinness and a biography of John Gielgud. His own publications include: Laughlines, There Is Nothing Like a Dane (Hamlet) There Is Nothing Like a Thane (Macbeth). A Star is Drawn and The Many Faces of Gielgud, to celebrate Sir John's 90th birthday. See: www.clivefranciscaricaturist.com
In February 2015, he played the part of Frank Doel in the Salisbury Playhouse's production of 84, Charing Cross Road. This was a production he repeated at the Arts Theatre, Cambridge in 2016 in readiness for a possible West End transfer in the Future.
Recent television includes: The Rear Column, The Critic, Pierrepoint, New Tricks Lipstick on Your Collar. In 2016, he played the part of Lord Salisbury in the Netflix series The Crown.
