Jarvis played characters in three Doctor Who stories. He first appeared in the 1966 story The War Machines as a corporal; then it wasn't until Tom Baker assumed the role that he returned to the series to play Ankh in the 1978 CSO-laden story Underworld. A year later he featured as swampie Skart in The Power of Kroll.
Outside of Doctor Who, he had a variety of roles in film and television, including the character of Roger in the original The Italian Job film with Michael Caine, and alongside former Doctor Colin Baker in the BBC series The Brothers.
Frank Jarvis died on 15th September 2010.