- Had appeared in three different film versions of The Crucible as a different character each time.
- His brilliant performance as Denethor in the BBC radio dramatization of "The Lord of the Rings" is considered by some to be the unsurpassed and defining portrayal of this character.
- He was a keen follower of football and cricket and played cricket.
- Appeared in Game of Thrones (2011) with Sean Bean. Bean played Boromir in Peter Jackson's Lord of the Rings films, while Vaughan played Denethor - Boromir's father - in the BBC Radio drama.
- Is the father in law of Scottish actor Gregor Fisher.
- He was considered for many guest roles in Doctor Who (1963) - General Grugger in "Meglos", Aukon in "State of Decay", Sir Robert Muir in "Black Orchid", Ranulf in "The King's Demons", Colonel George Wolsey in "The Awakening", Lord Ravensworth in "The Mark of the Rani", Shockeye in "The Two Doctors", Orcini in "Revelation of the Daleks", Gavrok in "Delta and the Bannermen" and De Flores in "Silver Nemesis".
- His theatre work includes Bottom in 'A Midsummer Nights Dream and Prime Minister Gladstone in 'Portrait of a Queen'.
- Brought up in North Staffordshire, his interest in the theatre was awakened by taking by taking part in school plays and his drama teacher seeing his talent arranged for him to have an interview with Wolverhampton Repertory Company.
- Had twice played a character who uses wheelchair in need of assistance in the restroom, once in Brazil (1985) and again in Death at a Funeral (2007).
- In the Army Entertainment Unit in Singapore during WWII with John Schlesinger, Peter Nichols, Kenneth Williams and Stanley Baxter.
- Considered for Dr. Hans Fallada, Dr. Bukovsky, Dr. Armstrong, Sir Percy Heseltine and the Fatherly Guard in Lifeforce (1985).
- Peter filmed scenes as a character called Mr MacKintosh in the film The Missionary (1982) but they were cut from the film before its release.
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