Filming began in March 2013, and Miller left in May after completion of the first episode, in which his character was murdered. Miller reprised his role for a cameo appearance in a dream sequence during the tenth series in 2021. Miller explained he had personal reasons for the change. "It was the job of a lifetime, but logistically I just didn't feel I could continue." He went on to say that "My personal circumstances just made it too complicated, but I will miss it like a lung. I love it here." Miller's wife had discovered she was pregnant after he had begun filming the first series. Their time apart caused strains on their relationship, and with his sons. He wanted to spend more time with his family. In 2014, Miller appeared in the feature film Molly Moon and the Incredible Book of Hypnotism. He also appeared with Billy Connolly and David Tennant in the film What We Did on Our Holiday. Starring opposite Nancy Carroll and Diana Vickers, Miller played Robert Houston in the play The Duck House by Dan Patterson and Colin Swash. The show is a political satire based on the UK parliamentary expenses scandal. On 6 September 2014, Miller guest starred in Doctor Who as the Sheriff of Nottingham in the third episode: "Robot of Sherwood". In 2015, following the 800th anniversary of the Magna Carta, Miller starred as King John in Series 6 of Horrible Histories. Since October 2015, Miller along with Ruth Jones and Will Close, appears in adverts for British supermarket Tesco as Roger with Jones as his wife Jo and Close as their son Freddie. In 2016, Miller co-presented the ITV entertainment series It's Not Rocket Science alongside Rachel Riley and Romesh Ranganathan. In February 2016 Miller issued a book, accompanied by a lecture tour, entitled The Aliens are Coming!, examining the question "are we alone in the universe?" Miller played the role of Murray in the six-part BBC sitcom I Want My Wife Back, starring alongside Caroline Catz. In 2016 he appeared in the Channel 4 comedy Power Monkeys. In 2018 he returned to the role of 'Bough', sidekick again to Rowan Atkinson's title character, in the film Johnny English Strikes Again. In September of that same year he played the role of Wolf Hall on the BBC sitcom Upstart Crow. In November 2022, Miller released his seventh children's book Secrets of