I, Claudius and its sequel, Claudius the God, by Robert Graves. The classic dramatised account of the life of the emperor Claudius.
Augustus and Tiberius by Allan Massie.
The First Man in Rome and sequels by Colleen McCullough.
A Song for Nero by Tom Holt.
Household Gods by Judith Tarr and Harry Turtledove
Caesar's Bicycle by John Barnes
Quo Vadis by Henryk Sienkiewicz
Memoirs of Hadrian by Marguerite Yourcenar
The Roma Sub Rosa series by Steven Saylor, starts with "Roman Blood".
The Falco series by Lindsey Davis.
The SPQR series by John Maddox Roberts.
The Germanicus Mosaic (series) by Rosemary Rowe - set in Roman Britain.
The Claudia series by Marilyn Todd
The Robe U.S. 1953 director Henry Koster
Demetrius and the Gladiators U.S. 1954 director Delmer Daves (sequel to 'The Robe')
Ben-Hur U.S. 1959
Spartacus U.S. 1960 director Stanley Kubrick
Cleopatra U.S. 1963 director Joseph L. Mankiewicz
The Fall of the Roman Empire U.S. 1964 durector Anthony Mann
Satyricon Italy 1970 director Federico Fellini
I, Claudius U.K. 1976, BBC 13 hour miniseries
Gladiator U.S. 1999 director Ridley Scott
Antony and Cleopatra