Goode was born in Exeter, Devon. His father, Anthony, was a geologist and his mother, Jennifer, is a nurse and amateur theatre director. Goode is the youngest of five children with a brother, two half-brothers, and a half-sister, television presenter Sally Meen, from his mother's previous marriage. He grew up in the village of Clyst St. Mary, near Exeter. Goode was educated at Exeter School, an independent school in Exeter, Devon, followed by the University of Birmingham and London's Webber Douglas Academy of Dramatic Art.

Goode has been in a relationship with Sophie Dymoke since 2005. They married in 2014. They have two daughters, Matilda Eve Goode (b. March 2009) and Teddie Eleanor Rose Goode (b. September 2013), and a son, Ralph Goode (b. August 2015)..

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• Medieval (2020)