The former Ashes To Ashes star, who is moving to Sky1 to appear in new series Mad Dogs, claimed that shows should be allowed to develop without suggestions from executives.
Speaking after the Sky1 press launch, he said: "The problem with the BBC and ITV is that there are so many levels of people coming in and telling you how to do things.
"There's too many generals who don't leave you to get on with it. Sometimes there's a nanny thing going on - it's something they need to have a look at. It's about self-censorship as well. We're big enough to know when we've pushed the boundaries too far."
However, Glenister also insisted that he is still a big supporter of the BBC.
> Philip Glenister regrets 'Demons' role