Grant trained as an actor at the Royal Academy of Dramatic Art, working in his spare time as a frozen food salesman and also (coincidentally, in view of his later career) as a bus driver. After doing national service in the Royal Artillery, he made his stage debut in 1952 as Sydney in Worm's Eye View at the Court Royal, Horsham.

In 1954 he married Jean Hyett; the marriage would end in divorce. Grant's first London appearance was in The Good Soldier Schweik at the Duke of York's Theatre in 1956, and he spent several years at the Theatre Royal Stratford East before getting the lead role in the musical Blitz! at the Adelphi Theatre in the West End for two years. In 1962 he married for the second time, to Christine Sally Kemp; they later divorced.