In this three part BBC drama (which was written by Russell T Davies) David Tennant played the famous seducer Giacomo 'Jack' Casanova. The older version of whom was played by Peter O'Toole.
In this video there are some brief sex scenes including a couple of threesomes but none of it is X-rated
Casanova was broadcast in 2005.
Link to the previous video.
Apologies if this video does not play in your country.