Heughan said the series, which ended this year after eight seasons, did not initially have intimacy co-ordinators and “we were very much left to our own devices”.
He added: “In fact, dare I say, even perhaps forced to do nudity when we were not particularly happy about it.”
Cumming told the audience in the Highlands that in previous years “some lines have been crossed” by actors during intimate scenes.
Speaking about his own experience as a younger actor, Heughan said performers often asked to remove their clothing.
He said: “I remember starting out as an actor and sort of going for auditions, and they’d be like, ‘Right, OK, take your top off now’, and it was awful, or you’re kissing someone you’ve just met in an audition.
“I promise you, it’s not like that anymore. It was just a different time.”
