Peter Birrel married actress Stephanie Cole only a few years before he died. They appeared together in a play early in both of their careers and met up by chance some 40 or so years later. Peter is widely celebrated for his role as the Draconian Prince in Doctor Who: Frontier in Space: Episode One (1973)-Doctor Who: Frontier in Space: Episode Two (1973) and Doctor Who: Frontier in Space: Episode Five (1973)-Doctor Who: Frontier in Space: Episode Six (1973).