His roles include Sir Percival in the 1953 film, Knights of the Round Table and Sutekh in the 1975 Doctor Who serial Pyramids of Mars.
Woolf renewed his association with Doctor Who in 1981 by reading three novelisations of Doctor Who stories for the Royal National Institute of Blind People. The books were The Three Doctors, Doctor Who and the Carnival of Monsters and Doctor Who and the Loch Ness Monster, all written by Terrance Dicks.
He is married to the opera singer Dame Felicity Lott and they have a daughter, Emily (b. 1984).
In 2005, he returned to work with the Writers of Oh Mummy, appearing in the Doctor Who DVD extra Eye On Blatchford as the demented Doctor Amadeus Gowel. In the Magic Bullet Faction Paradox audio plays Coming to Dust (2005), The Ship of a Billion Years (2006) and Body Politic (2008), all written by Lawrence Miles, Woolf reprises his role as Sutekh.
In the 2006 series of Doctor Who, Woolf returned to provide the voice of "The Beast" in the two part story "The Impossible Planet" and "The Satan Pit".
In 2008 Woolf played Witchfinder General Matthew Hopkins in the third story in the Scarifyers series, 'For King and Country.' The play was broadcast on BBC7 in 2009.
