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Jonathan Creek.
From those not mentioned I found Lie to Me with TIm Roth quite good.

On more humorous side there is recent Netlfix show Dirk Gently's Holistic Detective Agency based on Douglas Adams novel.
I heard it is good but although I plan to, I haven't watched it myself yet.
I recently saw Happy Valley and I liked it a lot but despite its name it is certainly quite dramatic and not too humorous.
Maybe Ray Donovan? I saw only some episodes but it looked interesting and a bit different from standard crime shows.

From what was mentioned I persoanlly feel Castle suits what you seek best and it features good actors as well.
Mentalist prolly too but I never got into it.

From british ones I could Inspectore Morse or Midsomer Murders could suit you but bear in mind both have longer running time than US shows. Some 90-100 minutes.
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Starmaker: Jonathan Creek.
YES!
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gandalfnho: In what terms you compare Leverage with A-Team? Does have some humour at least? A-Team is a series we like here at home.
And how much serious is China Beach compared with MASH? MASH was comedy, but had some darker moments too.
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LongitudinalThrust: Leverage and the A-Team have the same premise, a group of outlaws that break the rules to help people who the law couldn't help. They both use the same character archetypes too. In fact the only character archetype from the A-Team that wasn't directly copied was Face, they split his character into two. The intro almost makes the comparison for me actually, so here it is:

https://youtu.be/daUtbMIsuUs

I'd say there's just as much humour in Leverage as the A-Team, it just has less silly humour.

It's been over a decade since I watched China Beach, but from what I remember China Beach is about the opposite of MASH. It's primarily darker stuff, with a bit of comedy moments.
Will try Leverage then, China Beach probably not


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gandalfnho: How's the seriouness of Medium?
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amok: more serious then comedy. it is drama with some crime and mystery. it is just as much as about Allison and her family as it is with crime. but I liked it quite a lot, which I did not expect to do.
Humm, looks those shows with too much talking and few action


I heared about, but isn't much in the realistic/violent side of things?


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gandalfnho: Too gritty? Normally I prefer something more in the light side, especially to watch with my parents.
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RWarehall: While it has quite a bit of humor, it also covers a lot of issues involved with loss with dear friends. It exposes some of the mental anguish of losing close friends/co-workers, the dangers of firefighting, issues with alcoholism and other issues with people coping with stress. While a show like M*A*S*H covered similar issues with war sometimes, in Rescue Me it comes off as more "real life" and is more a central part of the show. That's what I mean by grittier. Might be more grit than you are looking for.

Monk is quite on the humorous side. I'd also recommend Person of Interest. It's not exactly humorous, but has it's fair share of light-hearted moments. It's not as deadly serious show as a Law & Order.
Doesn't need to be a comedy, but some decent banter between the characters is a must (even if involves a lot of snark) like in NCIS or Hawaii Five-O.


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Stevedog13: It might not be quite the genre you're looking for, but I recently finished watching the entire series of Burn Notice with my family. It has action, humor and intrigue but in a way that's not too violent or with in your face gritty realism. The show revolves around a former CIA agent, Michael Weston, who is falsely accused of committing crimes. As a result he gets "Burned" or fired from the CIA. He desperately wants to find out who burned him and why so he can clear his name and get his old job back. Along the way he teams up with close friends and family to help people, similar to the A-Team. One of the things I liked is the the main character Michael likes to narrate, similar to MacGyver, where he tells you what he's doing and why.
Is also light and humorous like A-Team?


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Starmaker: Jonathan Creek.
Looks interesting, and BBC-1 have some decent shows. Is lon the light side with some humorous banter at least?
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Starmaker: Jonathan Creek.
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gandalfnho: Looks interesting, and BBC-1 have some decent shows. Is lon the light side with some humorous banter at least?
Yes, it is comedy / crime. It ias bout a impossible crimes, solved by a magicians technician. it is very funny.
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Oldies not yet mentioned:

Remington Steele
Simon & Simon
Riptide
Crazy Like A Fox

Moonlighting (If you watch only one episode of this show ever, watch Season 3, Episode 7, "Atomic Shakespeare". Bruce Willis plays Petruchio in "The Taming of the Shrew". Stands on its own outside of the series proper and is hilarious.)
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Stevedog13: It might not be quite the genre you're looking for, but I recently finished watching the entire series of Burn Notice with my family. It has action, humor and intrigue but in a way that's not too violent or with in your face gritty realism. The show revolves around a former CIA agent, Michael Weston, who is falsely accused of committing crimes. As a result he gets "Burned" or fired from the CIA. He desperately wants to find out who burned him and why so he can clear his name and get his old job back. Along the way he teams up with close friends and family to help people, similar to the A-Team. One of the things I liked is the the main character Michael likes to narrate, similar to MacGyver, where he tells you what he's doing and why.
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gandalfnho: Is also light and humorous like A-Team?
While it's not a zany, laugh out loud kind of funny, there is a bit of humor throughout the show. A lot if it comes from good chemistry between the actors but also because they got cult star Bruce Campbell as a one of the main characters. He plays ex-Navy Seal Sam Axe, who's plans to retire on Miami Beach and drink mojito's all day is interrupted by having to help out his best friend who just got kicked out of the CIA. While the A-Team wound up getting sillier over time (like the cringe worthy Boy George episode) Burn Notice gets a bit darker and heavier in the later seasons. There is still some humor but they are also trying to build up tension for the epic final showdown at the end of the series. And while you do notice the gradual tonal shift, it comes at a time when you should be vested enough in the story and characters that you still want to keep watching.
Sledge Hammer
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OdanUrr: Well, I'd start off recommending JAG, the series from which NCIS was created and, incidentally, one of my favourite series. Ever watched "A Few Good Men"? That's JAG in a nutshell.

British crime dramas are, in my book, some of the finest TV you'll ever find and I'm glad you already got recommendations on Morse, Lewis, Endeavour, Life on Mars, New Tricks, Gently, etc. All of these are definitely worth watching. I'll also throw in Agatha Christie's Poirot (with David Suchet in the titular role) and Miss Marple series. I'd be remiss not to mention Sherlock Holmes. Here you have the 1984 series, starring Jeremy Brett, or the more modern adaptation with Benedict Cumberbatch and Martin Freeman. The US made its own version (as they usually do, often poorly) called Elementary, which I'd only recommend watching for Lucy Liu (Jonny Lee Miller isn't too bad as Sherlock). It is a tad too procedural for my tastes though, and each season has way too many episodes. If you don't want anything too dramatic, I'd counsel to stay away from Broadchurch and Luther (even though they're pretty good series in their own right).

Back to the US, I'd probably recommend The Mentalist and Psych. Curiously, they share a similar premise in that the main character is highly observant, what allows them to solve crimes in their role as a consultant to the police. In The Mentalist, the main character, Patrick Jane, used to be a con man who pretended to by a psychic. In Psych, the main character, Shaun Spencer, poses as a psychic in order not to get arrested by the police and it spirals from there. Psych is by far the more humorous of the two, dishing out pop culture references left and right.

Oh, yeah, and before I forget, you also have White Collar, a procedural about a highly talented con artist who's hired as a consultant by the FBI. Has a very Ocean's Eleven vibe.
Some very good recommendations here including some that I've already watched and loved! Might I recommend Monk? http://www.imdb.com/title/tt0312172/
It's a german tv-series but I really enjoy Alarm fur Cobra 11. It's a crime/action series and most definetaly not the best out there on the crime part but it does have awesome action scenes which are all done practical and not that CGI bullcrap which is just so fake.
The Equalizer.
Set in New York it starred Edward Woodward as a retired espionage/intelligence officer with a mysterious past, who uses the skills from his former career to exact vigilante justice on behalf of innocent people who are trapped in dangerous circumstances. The series combined elements of the spy film, private investigator/police procedural drama, and vigilante genres.


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Strijkbout: Sledge Hammer
Garth Marenghis Darkplace is like that but with medics.
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Spectre: The Equalizer.
Set in New York it starred Edward Woodward as a retired espionage/intelligence officer with a mysterious past, who uses the skills from his former career to exact vigilante justice on behalf of innocent people who are trapped in dangerous circumstances. The series combined elements of the spy film, private investigator/police procedural drama, and vigilante genres.

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Strijkbout: Sledge Hammer
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Spectre: Garth Marenghis Darkplace is like that but with medics.
"Got a problem? Odds against you? Call the Equalizer"

The Equalizer was one of my favorite shows when I was a kid. It was like a darker version of The A-Team when that show started getting silly. Except that back then I thought the main character was played by Michael Caine, it made it much harder to track down the show when I got older.
Thanks for all the suggestions, will try Leverage for now. Jonathan Creek also looks interesting, but I was unable to find subtitles in my idiom. Will research a bit more the other lighter options