The police drama, which was axed by ITV in March after 27 years on air, averaged 4.31m (18.8%) for ITV1 in the 9pm hour and 105k (0.5%) on ITV1 HD.
The programme beat a new episode of The Deep, which grabbed 3.72m (16.3%) on BBC One from 9pm, with a further 278k (1.2%) watching on BBC HD.
New Who Wants To Be A Millionaire? appealed to 3.27m (14.6%) on ITV1 in the 8pm hour, but it was outperformed by Holby City, which took 5.67m (25.2%) on BBC One.
Jason Mountford and Alex Jones continued to attract viewers to The One Show, with 4.09m (22.2%) watching the magazine programme on BBC One from 7pm.
Coast appealed to 1.91m (9.9%) on BBC Two in the 7pm hour, before factual entertainment series The Great British Bake Off took 2.69m (12%). Zimbabwe's Forgotten Children mustered 1.05m (4.8%) for the channel between 9pm and 10.30pm.
On Channel 4, Ultimate Big Brother grabbed 2.48m (14.6%) from 10pm and 179k (2%) on Channel 4 +1. Earlier on the channel, Help! My House Is Falling Down brought in 1.98m (8.8%) in the 8pm hour and 400k on timeshift, before The Hunt For Britain's Sex Traffickers took 1.9m (8.3%) and 179k (1%) on Channel 4 +1.
Over on Five, Chris Barrie's Massive Speed brought in 469k (2.3%) from 7.30pm, before Natureshock: Killer Squid Invasion took 1.34m (6%). CSI: Miami and CSI: NY grabbed respective audiences of 1.97m (8.6%) and 1.42m (7.8%) on the channel from 9pm.
BBC One dominated primetime with 21.9% against ITV1's 16.9% (HD: 0.4%). Channel 4 came in third with 8.5% (+1: 0.9%), followed by BBC Two with 7.9% and Five with 6.1%.
Elsewhere, BBC Three's Don't Tell The Bride secured the biggest multichannel audience of the night, after 1.01m (4.4%) tuned in from 9pm. Later on the channel, Johnny Vegas's sitcom Ideal pulled in 365k (2.3%) between 10.30pm and 11pm.
BARB ratings data supplied by Attentional