9 p.m., BBC One
Lovesick creator Tom Edge wrote this ingeniously claustrophobic maritime drama, starring Suranne Jones. When a crew member is found dead on the nuclear submarine Trident HMS Vigil, Detective Amy Silva (Jones) must board to investigate, as nuclear deterrence cannot be stopped for fear of compromising its secrecy. As the crew label the death an accidental overdose, Silva’s interrogation raises suspicions of foul play and leads them to close ranks around a secret. Continue tomorrow night at 9 p.m. Ammar Kalia
Mortimer and Whitehouse: Gone Fishing
8 p.m., BBC Two
The soothing and eminently watchable slow TV series from the Bob Mortimer and Paul Whitehouse comics fishing the streams and rivers in the UK returns for a fourth outing. Tonight, the couple visit the isolated island of North Uist in the Outer Hebrides, where they brave the winds and tides to fish for sea trout. AK
8 p.m., ITV
Brenda Blethyn returns as a rugged sleuth for two new full-length episodes. Someone clubbed a South Shields builder on the eve of his appearance as a court witness in Part One tonight, but Vera soon takes a look at the deceased’s family life. Lorraine Ashbourne is generally strong as a flint ex-wife. Jack Seale
SAS Celebrity: Who dares to win
8 p.m., Canal 4
12 celebrities travel to the Scottish Hebrides to see if they have what it takes to become an SAS recruit – or just to avoid crying in front of the cameras. Ulrika Johnson and Kerry Katona are among those who face their fears on an aerial assault course, before trying to save a hostage. AK
Chris and Meg’s wild summer
8:30 p.m., BBC Two
Chris Packham and his stepdaughter Megan take a personal look at the natural world in this new series. They start in South West Wales on Skokholm Island with a few puffin sightings, before canoeing along the River Teifi and revisiting where Packham was camping as a teenager. AK
When Ruby Wax met …
9 p.m., BBC Two
Ruby Wax is hardly less engaged in her new life as a cognitive therapist than she was as a pushy and disarming celebrity interrogator. This series continues to recall the intensity of some of those encounters – tonight’s highlight is a surprisingly candid 1996 interview with Pamela Anderson. Phil harrison
Choice of films
Beauty and the Beast, 3:35 p.m., BBC One
Disney’s classic animated musical fairy tale takes place in a life of delightfully adorned live action, with Emma Watson playing the incarcerated beauty Belle. There’s a capable, mickey, feminist side to her as she takes on the cranky beast (Downton’s Dan Stevens, behind the hairy face). Paul Howlett
Scottish Soccer: Rangers v Celtic 11am, Sky Sports Main Event. High level confrontation from the Ibrox stadium.
Paralympic Games 2020 12 p.m., Canal 4. Track and field coverage begins.
Premier League football: Burnley v Leeds United at 2:00 p.m. Sky Sports main event. Wolverhampton Wanderers v Manchester United at 4 p.m.