Here's a link to a cassette recording of his reading of Eleanor Updale's Montmorency: Thief, Liar, Gentleman? 

I'm not sure how well-known this book is, but I'd never heard of it before I found it by looking for audio recordings by Fry.

I have listened to this unabridged audio book at least 20 times, and just finished it again.

It is a great story line, but what makes it come alive is Fry's reading. I wish Audible and Amazon would record more titles with Mr. Fry, I could listen to him all the time. He also reads "Hitchiker's Guide to the Galaxy", originally a BBC production, which I've also listened to a hundred times, first on the BBC longwave, week by week, then on Audible's recordings.