The 55-year-old criticised the shows for having fewer black actors than similar programmes in America, saying they were not representative of modern Britain.
Giving the annual Bafta Television Lecture, Henry said: ‘What is going on? This is 2014.
‘The evolution of black and ethnic minority involvement in British drama seems to lurch one step forward and two steps back, a bit like John Sergeant in Strictly Come Dancing. Except he had a job at the end.’
Mr Henry highlighted ITV crime drama Broadchurch, BBC sitcom Miranda and Northern Irish hit Mrs Brown’s Boys as examples of shows with majority white casts.
‘Mrs Brown’s Boys. The Irish. An ethnic minority transvestite. I guess that counts.’
Quoting from a letter written by a 19th century black actor describing the troubles of finding work, he added: ‘Imagine if he’d had to cope with whoever casts Midsomer Murders. He would have topped himself.’
Mr Henry also warned Britain’s top stars are leaving the UK for America, where he said hit shows such as Breaking Bad and Boardwalk Empire all employ more black actors.
He said: ‘Since 2008 I’ve noticed a worrying trend. Our most talented black and minority ethnic actors are increasingly frustrated and they have to go to America to succeed.
‘You know who I’m talking about, David Oyelowo in The Butler, Idris Elba in Long Walk to Freedom, Prometheus and The Wire, Thandie Newton in Crash and Mission Impossible, Chiwetel Ejiofor in 12 Years a Slave, David Harewood in Homeland.’