Amanda Redman "freaked out" and burst into tears when she saw her daughter playing a badly-injured woman on the hit detective show New Tricks.
Emily Glenister, her daughter from her marriage to Hustle star Robert Glenister, is making her screen debut on the long-running BBC One show.
Amanda told Radio Times it was "weird" acting alongside her.
She said: "The first scene we did together had me finding Emily unconscious, with blood everywhere and a great slice out of her cheek."
Emily, whose uncle Philip played Gene Hunt in Life On Mars, said: "Basically, Mum got all freaked out and started crying."
The show features Amanda alongside Alun Armstrong, Dennis Waterman and James Bolam as police officers brought out of retirement to work in the Met's Unsolved Crime and Open Case squad.
Emily, 24, admitted her career benefited from her parents' "know-how" but said she also had to cope with being in her mother's shadow at times.
She said: "Did I have a boyfriend? Oh no, all the boys fancied her. And parents' evenings were a nightmare. All heads were turned because there was Mum, this great glamazonian thing in Armani jeans and there was me with my big bushy hair and braces."