Rosalie Craig hugs her new Doctor Foster co-star Suranne Jones in first look as filming for hit BBC show's third and final ever series continues

Rosalie Craig has been pictured filming scenes with Suranne Jones for Doctor Foster's third and final ever series.

The hit BBC One drama was previously given the green-light by bosses for another run - nine years after the last episode - and filming is now underway.

Rosalie, 45, has joined for the new series, and first look images show her shooting scenes with lead star Suranne, 47, who plays protagonist Gemma Foster.

Pictures taken on Thursday suggest the pair were in the middle of filming the before or after of Gemma's second wedding.

Suranne wore a stunning navy satin dress for the shoot, with Rosalie a green frock. 

Fans will have to wait until next year to watch the episodes, which will pick up just ahead of the wronged GP's nuptials.

Exact details of the storyline for the next instalment are being kept firmly under wraps by bosses.

Other stars reprising their roles include Bertie Carvel and Tom Taylor.

Series two concluded with Gemma and Simon's (Bertie) son Tom Foster running away from his family, having struggled with the trauma of his parents' toxic split and custody battle. 

Fans are hoping this third and final series will answer questions as to his whereabouts, as it has been confirmed that a now-adult Tom, played by Tom Taylor, will appear. 

Doctor Foster's return for a third and final series was confirmed by the BBC in February this year.

The show, which first hit screens in 2015, is written and executively by Mike Bartlett. To date 10 episodes have aired across two series.

Speaking about reprising her fan-favourite role, Suranne said: 'When I got the call to ask if I wanted to return as Gemma Foster, I knew the time was right. 

'We needed space from the first two series, and we needed Tom - Gemma and Simon’s runaway son - to return as an adult with questions. 

'For me, this time around it’s about accountability and questioning - ‘can we ever truly sever ties with our past and the damage or traumas that haunt us, so we can fully move forward?’ Gemma and Simon have so much to unpick! 

'It’s been an exciting time working with the brilliant Mike Bartlett again, and the team at Drama Republic, on the scripts and now I can’t wait to start filming.'

Meanwhile, Mike said: 'I've always hoped that we’d get to tell the final part of Gemma’s story - which is about a woman seeking justice in an unfair world.

'That feels as relevant now as when Gemma first found a blonde hair on the scarf.

'It’s been a joy to team up once again with the hugely talented Drama Republic, the now very grown-up and brilliant Tom Taylor, the inimitable Bertie Carvel and of course, the incomparable Suranne Jones, to tell the final chapter of this story and revisit Parminster - where it turns out there’s still secrets, betrayals, vengeance and perhaps one last dinner party…' 

Director of BBC Drama, Lindsay Salt said of the return: 'It’s a privilege to welcome Doctor Foster back to the BBC after almost a decade away. 

'The extent to which the first two series gripped the nation is a credit to Mike’s writing, the talented team at Drama Republic and our magnificent cast – and now we’re ready do it one more time in this epic final chapter.

'Bring it on!'