PBS reality series Manor House. I know I've mentioned these PBS House series before, but really can't begin to say how much I enjoy them! While they are not scripted dramas, but rather follow a group of modern day folks who agree to live the culture of the day, they are extremely engaging and full of historical information.
In Manor House we follow the people who play staff and aristocrats at Manderston, a grand Edwardian house located near the Scottish-English border. While the "downstairs" help slave away seven days a week for upwards of 16 to 18 hours a day, their "upstairs" nouveau-rich aristocratic family learn to deal with the subtleties of standings and titles (not to mention doing absolutely nothing, including putting on their own socks and underwear).
If you think you might enjoy Manor House, you might check out the following PBS series that are also set in England:
Regency House Party (which also appeared on PBS) for an interesting romp into Regency romance.
The 1900s House for its look at the average urban lifestyle at the turn of the century in London during the Victorian Era.
The 1940s House set in London around the time of WWII with its food rations, bomb raids, and blackout curtains.
Check them out! They are fantastic and do a great job of mixing the drama of reality television with the history of a great period drama or documentary. (There are also three set in the United States, if you are interested: Frontier House, Texas Ranch House, and Colonial House.)