Rintoul has narrated many audiobooks, including Frederick Forsyth's The Day of the Jackal and J. G. Ballard's Millennium People. In 1986, he recorded unabridged readings of 13 of Ian Fleming's James Bond novels for Chivers Audio Books. He also later recorded Nobody Lives Forever and Licence to Kill, written by John Gardner. Whilst reading the prose with his usual speaking voice, Rintoul speaks Bond's dialogue with a mild Scottish accent. He also narrated Robert Harris's Dictator, the final volume of his Cicero trilogy. Rintoul took over this role from Bill Wallis, who had read the previous two books, Imperium and Lustrum, but died two years before Dictator's publication. He has narrated two young people's books, "The Boggart" (2009) and "The Boggart and the Monster" (2013) written by Susan Cooper.