Collins has appeared on the popular BBC television programme Top Gear as himself, with his company providing drivers and driving services since December 2003. In Series 2 Episode 10, In 2003 Collins appeared as one member of BBC Top Gear-team in the 24-hour Citroën 2CV racing event. The team finished thirteenth, out of thirty four cars, 24 laps behind the leaders, with Collins setting fastest lap.
In 2004, Collins made an appearance during the fourth season of Top Gear, alongside parachutist Tim Carter. The stunt involved Carter and an aerial cameraman jumping out of a Cessna light aircraft then landing in the open-topped Mercedes car being driven at a speed by Collins. The open-top car was introduced as belonging to Collins and had earlier been used—driven by The Stig—during a wig test in Series 3 Episode 5.
In 2005, the driver featured during series five, driving a Lancer Evo VII and then a Bowler Wildcat vehicle in a rally race against mountain boarding world champion Tom Kirkman.
At the start of series six, Collins appeared with other British Touring Car Championship racing and stunt drivers for a Five-a-side football game using a fleet of Toyota Aygo cars. Collins played in a team captained by Top Gear presenter Richard Hammond. The other drivers were Paul Swift, Tim Harvey and Tom Chilton (blue team); playing against James May, Russ Swift, Matt Neal, Dan Eaves and Rob Huff (red team).
Collins could be seen driving the Honda Civic Type-R against Jeremy Clarkson in Episode 6 of Season 10.
The sixth episode of series seventeen of Top Gear featured a team of amputee soldiers training driving a Bowler Wildcat and being trained by Collins to take part in the Dakar Rally.
On a separate occasion, following an accident involving Richard Hammond in September 2006, the Health & Safety Executive report into the event recorded that Collins had "worked closely with Top Gear as a high performance driver and consultant" and had prepared a briefing for Richard Hammond preceding the event.