Perhaps most well known for appearing with Robert Taylor and Ava Gardner in the 1953 film Knights of the Round Table, he is also notable for his television appearances on Doctor Who; Rob Roy; Emergency-Ward 10; and Look and Read.
He made his screen debut in a 1951, made-for-TV movie titled The Boy with a Cart.
A tremendous fan of children's author Arthur Ransome, Woolf recorded audiobook versions of Ransome's Swallows and Amazons series of books and also headed the Arthur Ransome Society.
His marriage to operatic soprano Felicity Lott resulted in a daughter named Emily (born in 1984).
Playing the role of Sutekh, he appeared with Tom Baker in the 1975 Doctor Who serial Pyramids of Mars.