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Stephen-Daly grew up in Melbourne with her father Paul, an entrepreneur who was the originator of the world's first travelling tram restaurant in Melbourne in 1993; mother Rhonnda, a housewife; and three sisters Louise, Laura, and international model Emily.
Stephen-Daly's first big break came in landing the role as Amber Kingsley in Pacific Drive. She appeared in a number of other Australian television programmes including Farscape, Stingers and Something in the Air.
She then came to the United Kingdom in September 2000 to have a break from the constant acting work she did in Australia. She had a guest appearance in EastEnders before landing the role as popular Lara Stone in the BBC One medical drama Casualty. A role which she played for three years, she then went on to appear in Cutting It.
Stephen-Daly has also appeared in The Bill as Kristen Shaw, a sexy drug baroness. She portrayed the role of Samira Shahbandar, Saddam Hussein's second wife in the BBC drama House of Saddam. Stephen-Daly also appeared in the popular children's CBBC science fiction series, The Sarah Jane Adventures as evil alien Miss Myers. Stephen-Daly also appeared in ITV soap opera, Emmerdale in 2012, as a barrister Fisher when Chas Dingle (Lucy Pargeter) and Cameron Murray (Dominic Power) go to court and are questioned about the murder of Carl King (Tom Lister).
- Love and Other Catastrophes (1996)
- Crimes of Fashion (1998)
- Change of Heart (1999)
- Me Myself I (1999)
- Pacific Drive (1996)
- Farscape (1999)
- Stingers (1999)
- Something in the Air (2000)
- EastEnders (2001)
- Casualty (2001–04)
- Cutting It (2005)
- The Bill (2006–2007)
- House of Saddam (2008)
- The Sarah Jane Adventures (2011)
- Emmerdale (2012)