In 2011, he appeared in the sixth series of the new series of Doctor Who in the episode The Impossible Astronaut. He is one of several actors to have appeared in both Star Trek and Star Wars, playing Ira Graves in Star Trek: The Next Generation, the Klingon Commandant in Star Trek VI: The Undiscovered Country, Qatai in Star Trek: Voyager and the Vulcan science minister in the 2009 film Star Trek.
Sheppard passed away on January 6, 2019 at the age of 86 in Los Angeles, California.