Acclaimed historian Lucy Worsley has shared her funny encounter with an Oxford taxi driver.

The author and TV presenter, who studied Ancient and Modern History at New College, Oxford, was performing at the New Theatre Oxford yesterday afternoon (November 17).

Following her sold-out Agatha Christie tour, she was giving a talk on Jane Austen, and took a cab to the theatre. 

However, she was very amused when the driver mistook her voice for a thespian type.

READ MORE: Fight breaks out after road rage incident

She posted online: "I took a taxi to the theatre today.

"Taxi driver: 'are you an actress'

"Me: 'No. Why?'

Taxi driver: 'cos you've got a rich posh voice, maybe like Imelda Staunton.'"

Fans who clearly enjoyed last night's performance were quick to comment.

"I've often thought Imelda Staunton would be lucky to have Lucy Worsley's voice," said one fan.

"Dame Worsley has a nice ring to it," another added.

While a third joked: "So I take it you tipped him?"

During her talk at the New Theatre, Ms Worsley explored the different houses in which Jane Austen lived and stayed during her life. 

The historian revealed how the author chose to forgo having a husband so she could "give birth to books rather than babies" and died in Winchester surrounded by female relatives including her sister Cassandra in 1817 at the age of 41. 

After talking about Jane Austen in the first half of her show, Ms Worsley then fielded questions from the audience on a range of subjects including historical inaccuracies in films and her favourite costume she has worn while filming.