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Laurenson was born in Marton, North Island, New Zealand. He moved to the UK in the 1960s and made his film debut in 1969 with a small part in Women in Love, although he also had an uncredited part (as an Oxford rower, playing alongside Graham Chapman) in The Magic Christian.
He has appeared in numerous British Shakespearean productions, notably Richard II, as Rosencrantz in Hamlet, and on radio in the marathon series, Vivat Rex. He also appeared as Piers Gaveston in the 1970 production of Christopher Marlowe's Edward II, opposite Ian McKellen who later recalled that kissing Laurenson "was a bonus throughout the run". Other costume roles included a French courtier in Elizabeth R and the Earl of Lincoln in Shadow of the Tower (1972). In the same year, he took on a more modern role starring as Det. Inspector Napoleon Bonaparte in the Australian TV drama series Boney, playing a half-Aboriginal detective. This would be his most high-profile part, although the casting of a non-Aboriginal in the role was attacked by some Australian critics. In 1974 he took the lead role in the TV film The Prison, based on the novel by Georges Simenon, the first instalment in the Thames Television/Euston Films spin-off of Armchair Theatre, entitled Armchair Cinema. He also starred as Pink's Father in the 1982 film, Pink Floyd—The Wall.
An accomplished singer, Laurenson took the lead role of Julian Marsh in Gower Champion's musical 42nd Street at the Theatre Royal, Drury Lane, London, and appeared at Greenwich Theatre in Falling Over England with Charlotte Cornwell.
Throughout his career, Laurenson has had guest roles in numerous popular TV series such as Z-Cars, Space: 1999, The Professionals, Armchair Thriller, Hammer House of Horror, Remington Steele, Cagney and Lacey, Hammer House of Mystery and Suspense, Inspector Morse, Bergerac, Boon, Lovejoy, Prime Suspect, Sharpe, A Touch of Frost, Heartbeat, Silent Witness, Taggart, Midsomer Murders, State of Play, Hustle, and Spooks.
- Assault (1971)
- Boney (TV series) (1971–72)
- The Prison (1974)
- Pink Floyd—The Wall (1982)
- The Dead of Jericho (1987)
- Henry IV, Parts I and II (2012)
- Ian McKellen's homepage Edward II
- "Cast confirmed for BBC Two's cycle of Shakespeare films" (Press release). BBC Drama Publicity. 2011-11-24. Archived from the original on 2011-12-30. Retrieved 2012-07-20.
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