Sir Tony Robinson, known to millions for his role as Baldrick in Blackadder, is writing his memoirs.

The book will be titled No Cunning Plan: The Auobiography by Tony Robinson and will chart his career from his first stage role as a boy in Oliver! through to Blackadder, Maid Marion and Her Merry Men, Time Team and The Worst Jobs in History.

The “self-deprecating” book is expected to be “packed full of incident and insight”, one such incident including Robinson coping “manfully” when locked naked outside a theatre in Lincoln during the live tour of comedy series Who Dares Wins.

He will also write about failing to impress Liza Minnelli and being pushed into a London dock by John Wayne.

The book will be published in the UK in September.

Robinson said: “Fifty-seven years as an actor and writer; it’s about time I told my story in my own words! Of course I’ll rip the lid off ‘Blackadder’ and ‘Time Team’, but there’s so much more that people don’t know.

I want my readers to be entertained, but I also hope when they finish the book, they’ll say, “Blimey! He didn’t really do that, did he?”’