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Peters' father was a master carpenter and his paternal grandmother made pottery with a potter's wheel and kiln in her basement.
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Peters played Daryl Van Horne in 2001 UK stage production of The Witches of Eastwick.
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Peters played the role of Billy Flynn in Chicago in London, New York and on tour throughout the U.S. for over 3,000 shows between 2000 and 2003.
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Peters' first professional role was in Paris in 1971. His brother, Tony, another actor, couldn't make an audition and Clarke went in his place and received the job.
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Peters played Quarrel in a 2008 BBC radio dramatization of Ian Fleming's Dr. No. Fleming was born in 2008 and the broadcast marked the 100 year anniversary.
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Peters was part of a singing trio for three years, The Majestics, a London-based group.
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Peters is the father of Joe Jacobs, a young English actor who appears on the BBC drama Holby Blue as a constable.
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Peters trained as a mime. He was introduced to the art form by a protege of famed mime, Marcel Marceau.
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"Cool Lester Smooth" is the nickname for the character Peters portrayed, Detective Lester Freamon, in HBO's The Wire.
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Peters received a Theatre World Award for his 1999 role as Joe Mott in The Iceman Cometh.
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Peters first role in the London theatre was in Guys and Dolls as Sky Masterson.
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Peters wrote the musical review, Five Guys Named Moe, which won the 1991 Laurence Olivier Award for Best Entertainment in London. It was also nominated for a Tony Award in 1992 after its run on Broadway.