Yes he did. See the related link to WIkipedia. Scroll down to the section 'Television adaptations' - there is a picture of him in the role.
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Georges Simenon wrote the Maigret novels and short stories.
Cam Davies is 5' 10".
Rupert Gunnis died in 1965.
Rupert Weinstabl was born in 1911.
Rupert McGuigan was born in 1941.