The actor noted that while he hasn't experienced any embarrassing moments with his co-stars, he was once forced to step in and ask a member of the public to stop filming him.
Speaking exclusively to Express.co.uk, Martin detailed: "When we were filming in the street, there were of course a lot of people watching the filming.
"And I don't like it when people take out their mobile phones and start sticking it in your face and taking pictures and videos, I think it's very rude.
"And there was this one man who was asked not to do it, so I really challenged him on it and I walked up to him and said, 'Do you realise how rude this is? Do you know how embarrassing it is for people?'"
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I explained to him that he didn't have permission to do it
"I explained to him that he didn't have permission to do it and he had been asked not to do it but he carried on," the 72-year-old commented. "Had he ever considered how rude it was?"
But, that wasn't the end of the situation with Martin revealing: "About a month later we were in the same location and this man came up to me.
"He said, 'I'm so glad to see you again, I wanted to come and apologise because I thought about what you said and you are absolutely right… I'm so glad you pointed it out to me'."
TV Shows that lasted more than 10 years
Sun, July 9, 2017
When you find a TV Show that you love, you never want it to end. Take a look at our favourite programmes that lasted more than 10 seasons.
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The Muppets were created in 1955 and have been appearing in films since the 80's
Inspector George Gently aired for the final time tonight
Discussing what the atmosphere was like for the final episode with co-stars Lee Ingleby, who stars John Bacchus, and Rachel Coles star Lisa McGrillis, Martin said it was "strange".
"I said I wasn't going to get emotional and I didn't until I decided to thank everybody and then I got half-way through it and got a bit choked up," he commented.
Inspector George Gently Series 8 and Complete 1 – 8 Box Set are released on DVD on November 6.