Noel Clarke was questioned on Tuesday on suspicion of attempted rape, exposure and sexual assault by touching, according to the Metropolitan Police.
The allegations relate to a female complainant who was in her twenties at the time of the alleged incident in London in 2007.
The 50-year-old actor, best known for his role in Doctor Who, was also in communications with police over a voyeurism allegation for which he had previously been questioned in September 2025.
That earlier matter concerns an offence allegedly committed in 2013 at a London address, also involving a woman in her twenties.
Noel Clarke was taken into custody on Tuesday on suspicion of attempted rape
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A Met spokesperson confirmed the investigation remains ongoing, with Mr Clarke released on bail while detectives continue their enquiries.
Mr Clarke arrived at Islington police station in north London at approximately 12.45pm on Tuesday, accompanied by his wife Iris and his legal representative.
The trio entered through a side entrance, with the actor dressed in an olive jacket, jeans and red and white trainers, while his wife wore black.
Following his formal arrest, detectives from the Met's Central Specialist Crime Command conducted interviews regarding the alleged offences.
The allegations relate to a female complainant who was in her twenties at the time of the alleged incident in London in 2007
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The questioning also covered the voyeurism allegation from his previous arrest last autumn.
After being held for just over two hours, Mr Clarke was released on bail as officers continue their investigation.
The inquiry is being conducted under the direction of the Central Specialist Crime Command, with further enquiries expected to follow.
When officers first arrested Mr Clarke at his Kensington residence last September in connection with the voyeurism allegation, they conducted an extensive search lasting at least five hours.
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Noel Clarke rose to prominence portraying Mickey Smith in the BBC science fiction series Doctor Who from 2005 to 2010
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Investigators removed multiple boxes and bags from the father-of-four's west London apartment, including laptops and other electronic equipment.
The Metropolitan Police launched a formal investigation through its Central Specialist Crime Command on September 1 following that initial arrest.
It is understood that detectives have been assessing evidence which emerged during Mr Clarke's civil court proceedings against the Guardian newspaper.
The search of his property and subsequent analysis of seized materials forms part of the continuing criminal inquiry.
The questioning also covered the voyeurism allegation from Mr Clarke's previous arrest last autumn
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Mr Clarke rose to prominence portraying Mickey Smith in the BBC science fiction series Doctor Who from 2005 to 2010, appearing alongside Billie Piper during both the Christopher Eccleston and David Tennant eras.
He subsequently established himself as a filmmaker, writing and directing the acclaimed Kidulthood trilogy comprising Kidulthood, Adulthood and Brotherhood, while also appearing in major productions including Star Trek Into Darkness.
In 2009, he received the Rising Star award at the Bafta Film Awards, and in 2021 was presented with Bafta's Outstanding British Contribution to Cinema honour.
However, that accolade and his Bafta membership were suspended after women came forward with sexual misconduct allegations.